Title :
Auto Disturbance Rejection Control System of Diving for an Underactuated AUV
Author :
Xu, Jian ; Zhou, Jiajia ; Zhang, Honghan ; Bian, Xinqian
Author_Institution :
Robot. Inst., Harbin Inst. of Technol., Harbin, China
Abstract :
The diving control problem of an under actuated autonomous underwater vehicle (AUV) was addressed in this paper. In order to deal with the uncertainties and nonlinear dynamics, an auto-disturbance-rejection controller(ADRC) was introduced to guarantee the robustness and stability during diving. The simulation results demonstrated that this proposed controller was effective to eliminate the disturbances caused by vehicle´s nonlinear and model uncertainty. Further more, the feasibility and practicability of the proposed method is verified by an experiment for the diving control in Lake.
Keywords :
mobile robots; nonlinear control systems; remotely operated vehicles; robust control; uncertain systems; underwater vehicles; auto disturbance rejection control system; auto-disturbance-rejection controller; diving control problem; lake; nonlinear dynamics; robustness; stability; underactuated autonomous underwater vehicle; vehicle model uncertainty; vehicle nonlinear uncertainty; Control systems; Equations; Hydrodynamics; Mathematical model; Robustness; Vehicle dynamics; Vehicles; autonomous underwater vehicle (AUV); diving control; extended state observer; tracking differentiator;
Conference_Titel :
Computational Sciences and Optimization (CSO), 2011 Fourth International Joint Conference on
Conference_Location :
Yunnan
Print_ISBN :
978-1-4244-9712-6
Electronic_ISBN :
978-0-7695-4335-2
DOI :
10.1109/CSO.2011.94
