Application of improved active disturbance rejection in ROV pose control
In order to improve the pose control ability of Remotely Operated Vehicle(ROV)in water environment,a new nonlinear function is proposed to improve the traditional fal function,which is not smooth enough in the transition of fal function in traditional Active Disturbance Rejection Control(ADRC)strategy.By adopting the monotonic increasing and continuous smooth characteristic of hyperbolic tangent function near the origin,the nonlinear function sfal function is con-structed by polynomial fitting.Then the stability of sfal function is analyzed by Lyapunov method.Based on sfal function,the general form of extended state observer(ESO)is given,and an improved ADRC is designed.Finally,the mathematical model of ROV is established,and the output of the system is simulated and analyzed by Matlab/Simulink.Finally,a compar-ative experiment is carried out on the ROV platform.The experimental results show that the improved ADRC can effect-ively suppress the overshoot of the system response and improve the anti-disturbance ability of the ROV pose state.
active disturbance rejection controlremotely operated vehicleextended state observerpose control