Research on AUV docking of anti ocean current based on active disturbance rejection control
The existence of ocean currents and unknown disturbances affects the success of docking recovery of autonomous underwater vehicle(AUV),and it is difficult to ensure docking attitude and anti-disturbance ability.In this pa-per,a three-stage docking control method based on auto-disturbance rejection control is proposed:pure pursuit guidance is adopted in the first stage of the docking,cross-track guidance is adopted in the middle stage,and cosine curve guidance is used at the end to generate the desired heading angle.An ocean current observer is designed to estimate the ocean current ve-locity and realize compensation,and an active disturbance rejection controller is designed for AUV model to realize heading Angle tracking.The control model is established in Matlab/Simulink and simulated under different ocean currents and ex-ternal random interference conditions.The simulation results show that the designed docking method can effectively control the heading angle and lateral distance of AUV under the interference of ocean current,and has certain resistance to external random disturbance,which can ensure the docking attitude and anti-disturbance ability at the same time.
AUVocean current interferenceactive disturbance rejection controldocking recovery
万方数据
维普
