Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles
	Jiang ZB(姜志斌); Li S(李硕); Liu TJ(刘铁军)
	2016
会议名称	2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期	December 3-7, 2016
会议地点	Qingdao, China
页码	1418-1423
通讯作者	姜志斌
中文摘要	This paper presents the dynamic model and control scheme of an active variable buoyancy system (VBS) actuator for Autonomous Underwater Vehicles (AUVs). Our aim is to design an active disturbance rejection controller for the AUV maneuvering in the vertical plane with two VBS actuators. Firstly, a vertical plane mathematical model of AUV and a dynamics model of the VBS are established, and the model consists of three degrees of freedom (DOF) motion components that are surge, heave and pitch. The control scheme is decoupled into two subsystems including diving control and pitch control. Then, two improved extended state observers (ESOs) are employed and made comparative researches. The controller with improved ESOs can achieve good noise attenuation and robustness. Finally, field trial and simulation results illustrate the effectiveness of the proposed control scheme.
收录类别	EI
产权排序	1
会议录	Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5090-4363-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19684]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Jiang ZB,Li S,Liu TJ. Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016.