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

fYear

2011

fDate

15-19 April 2011

Firstpage

982

Lastpage

986

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CSO.2011.94

Filename

5957822