Research on AUV recovery attitude control based on improved active disturbance rejection control
To meet the demand of docking attitude stabilization control of an autonomous underwater vehicle(AUV)during near-field underwater recovery,based on the mathematical model of AUV spatial motion,an active disturbance rejec-tion controller(ADRC)for attitude tracking is designed and optimized with smooth low-pass filtering for its interference compensation channel.The control adjustment of the attitude error is realized by real-time estimation and compensation of the total system disturbance.Three waveforms of constant value,step disturbance,and high frequency sinusoidal disturb-ance are used as preset attitude values for simulation and comparison experiments in Matlab/Simulink.The results show that compared with the traditional PID controller,the control system has a faster response speed,and at the same time,it can ef-fectively suppress the external disturbance and be used for attitude control during AUV recovery.
autonomous underwater vehicleactive disturbance rejection controllerPID controllerattitude control
NETL
NSTL
万方数据
