scholarly journals Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Lin-Lin Wang ◽  
Hong-Jian Wang ◽  
Li-Xin Pan ◽  
Jun-Xi Guo
Keyword(s):  
Disturbance Rejection ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Fuzzy Controller ◽  
Underwater Vehicle ◽  
Wave Disturbance ◽  
Roll Motion ◽  
Nonlinear Feedback ◽  
Roll Control ◽  
Active Disturbance Rejection

Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface.

scholarly journals Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989153
Author(s):  
Zhengzheng Zhang ◽  
Bingyou Liu ◽  
Lichao Wang
Keyword(s):  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
External Disturbance ◽  
Underwater Vehicle ◽  
Active Disturbance Rejection Control ◽  
Optimal Control Strategy ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Depth Control

Large fluctuation, large overshoot, and uncertain external disturbance that occur when an autonomous underwater vehicle is in deep motion are difficult to address using the traditional control method. An optimal control strategy based on an improved active disturbance rejection control technology is proposed to enhance the trajectory tracking accuracy of autonomous underwater vehicles in actual bathymetric operations and resist external and internal disturbances. First, the depth motion and mathematical models of an autonomous underwater vehicle and propeller are established, respectively. Second, the control rate of the extended state observer and the nonlinear error feedback of the traditional active disturbance rejection control are improved by using a new nonlinear function. The nonlinearity, model uncertainty, and external disturbance of the autonomous underwater vehicle depth control system are extended to a new state, which is realized by an improved extended state observer. Third, the improved nonlinear state error feedback is used to suppress residual errors and provide high-quality control for the system. Simulation and experimental results show that under the same parameters, the traditional active disturbance rejection control has a small overshoot, fast tracking ability, and strong anti-interference ability. The optimized active disturbance rejection control and traditional active disturbance rejection control are applied to the deep-variation motion of autonomous underwater vehicles. Results show that the proposed optimal control strategy is not only simple and feasible but also demonstrates good control performance.

scholarly journals Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142090963
Author(s):  
Tianqi Xie ◽  
Ye Li ◽  
Yanqing Jiang ◽  
Li An ◽  
Haowei Wu
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Time Varying ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of underactuated autonomous underwater vehicle are acquired. Following this, reduced-order linear extended state observers are designed to estimate and compensate for the uncertainties that exist in the model and the external disturbances. A backstepping active disturbance rejection control method is designed with the help of a time-varying barrier Lyapunov function to constrain the position tracking error. Furthermore, the controller system can be proved to be stable by employing the Lyapunov stability theory. Finally, the simulation and comparative analyses demonstrate the usefulness and robustness of the proposed controller in the presence of internal parameter uncertainties and external time-varying disturbances.

scholarly journals Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection

2021 ◽  
Vol 9 (11) ◽  
pp. 1306
Author(s):  
Junhe Wan ◽  
Hailin Liu ◽  
Jian Yuan ◽  
Yue Shen ◽  
Hao Zhang ◽  
...  
Keyword(s):  
Fractional Calculus ◽  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Estimation Error ◽  
Underwater Vehicle ◽  
Superior Performance ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
The Stability

An active disturbance rejection control based on fractional calculus is proposed to improve the motion performance and robustness of autonomous underwater vehicle (AUV). The active disturbance rejection control (ADRC) method can estimate and compensate the total disturbance of AUV automatically. The fractional-order PID (proportional integral derivative) has fast dynamic response, which can eliminate the estimation error of extended state observer. The fractional calculus active disturbance rejection strategy combines the advantages of the above two algorithms, and it is designed for AUV heading and pitch subsystems. In addition, the stability of fractional calculus ADRC heading subsystem is proven by Lyapunov stability theorem. The numerical simulations and experimental results document that the superior performance has been achieved. The fractional calculus ADRC strategy has more excellent abilities for disturbance rejection, performs better than ADRC and PID, and has important theoretical and practical value.

scholarly journals Design, Analysis and Development of Autonomous Underwater vehicle

2019 ◽  
Vol 9 (2) ◽  
pp. 3805-3810
Keyword(s):  
Object Recognition ◽  
Motion Control ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Heading Control ◽  
Underwater Object ◽  
Institute Of Technology

Autonomous Underwater Vehicles (AUV) are slowly operated unmanned robots which Capable of propelling on pre-defined mission tracks independently under the water surface and are frequently used for oceanographic exploration, bathymetric surveys and defense applications. This AUV can perform underwater object recognition and obstacle avoidance with the use of appropriate sensors and devices. Vidyut is a miniature AUV developed at Sri Sairam Institute of Technology. The vehicle is equipped with six thrusters which allow for motion control in 6 Dof and has a non-conventional single hull heavy bottom hydrodynamic design. This paper discusses different aspects of the vehicle's unique design. The output of the Arduino Uno controller has been discussed for continuous depth and heading control.

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