Active disturbance rejection motion control of ROV based on reduced order extended state observer
An active disturbance rejection motion control method of underwater vehicle based on reduced order extended state observer (ROESO )is proposed.Taking the existing remotely operated vehicle (ROV )in the laboratory as research object,the hydrodynamic parameters calculated by the fluid simulation software are used to establish the dynamic model,and the depth control is taken as an example to simulate and analyze the anti-interference ability.The simulation results verify that the proposed control method has better signal tracking precision and disturbance suppression ability than the linear active disturbance rejection control(LADRC)method,and better solves the problem of insufficient anti-interference ability of the LADRC method based on ROESO.
ROVmotion controllinear/nonlinear switched active disturbance rejection control
万方数据
维普
