Motion Control of Autonomous Underwater Helicopter Based on Linear Active Disturbance Rejection Control with Tracking Differentiator
Source abstract
Abstract
As a new disk-shaped autonomous underwater vehicle (AUV), the autonomous underwater helicopter (AUH) is devoted to subsea operations, usually diving into the seabed and docking with a subsea docking system. Due to the motion control’s performance, the AUH’s stability and steady-state accuracy are affected remarkably while docking. Moreover, considering the difficulties of hydrodynamic modeling of AUHs, the classical model-based control method is unsuitable for AUHs. Moreover, there is a large gap between the hydrodynamic simulation results and real situations. Hence, based on the data-driven principle, the linear active disturbance rejection control with a tracking differentiator (LADRC-TD) algorithm is employed for AUH depths and heading control. As the simulation experiments prove, LADRC and LADRC-TD have better anti-interference performance when compared with PID. According to the pool experiments, overshoots of the LADRC-TD are 20 cm and 3° for the depth control and heading control, respectively, which are superior to PID and LADRC. Meanwhile, the steady-state accuracy of the LADRC-TD is ±21 cm and ±2.5° for the depth and heading control, respectively, which is inferior to PID and the same as LADRC.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Adaptive Control of Nonlinear Systems · Robotic Path Planning Algorithms
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Ocean College, Zhejiang University, Zhoushan 316021, China
Hainan Institute, Zhejiang University, Sanya 572025, China
Funding
National Natural Science Foundation of China · National Key R & D Program of China
References (25)
Show source-provided references
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