Active disturbance rejection control of underwater high-speed vehicle

Author

Han, Yuntao ; Geng, Ruiguang

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2012

fDate

15-17 Aug. 2012

Firstpage

550

Lastpage

553

Abstract

Based on the feature of model disturbances and uncertainty being compensated dynamically in active disturbance rejection control (ADRC), a new method using ADRC is proposed for the decoupling control of underwater high-speed vehicle longitudinal movement and decoupling control is realized by applying ADRC. Simulation results show that the high dynamic performance and robustness performance can be achieved by proposed method.

Keywords

attitude control; compensation; control system synthesis; motion control; realisation theory; robust control; uncertainty handling; underwater vehicles; ADRC; active disturbance rejection control; attitude control system design; decoupling control realization; dynamic compensation; dynamic performance; model disturbance; model uncertainty; robustness performance; underwater high-speed vehicle longitudinal movement; Equations; Force; Mathematical model; Planing; Robustness; Vehicle dynamics; Vehicles; Active disturbance rejection control (ADRC); Nonlinear state error feedback (NLSEF); Robustness; Underwater high-speed vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics (ICAL), 2012 IEEE International Conference on

Conference_Location

Zhengzhou

ISSN

2161-8151

Print_ISBN

978-1-4673-0362-0

Electronic_ISBN

2161-8151

Type

conf

DOI

10.1109/ICAL.2012.6308138

Filename

6308138