基于PIO-ADRC的自主水下航行器运动控制
Motion Control of AUV Based on PIO-ADRC
彭翼遥 1邓忠超 1邢明智 1赵晓阳1
作者信息
- 1. 哈尔滨工程大学 青岛创新发展基地,山东 青岛 266000
- 折叠
摘要
为进一步提高自主水下航行器(Autonomous Underwater Vehicle,AUV)的控制精度,对六自由度全驱动AUV进行建模,并搭建相应的自抗扰控制器(Active Disturbance Rejection Controller,ADRC).考虑到传统ADRC待调整参数过多,且必须随着系统进行相应的参数调整,针对此,提出基于鸽群算法优化(Pigeon-Inspired Optimization,PIO)的ADRC(PIO-ADRC),并在相同仿真条件下将其与经过PIO 的比例-积分-微分(Pigeon-Inspired Optimized Proportional Integral Derivative,PIO-PID)控制器和传统ADRC的控制效果进行对比.结果表明,使用PIO的ADRC超调量小、稳态误差小、控制效率更高.
Abstract
In order to further improve the control precision of Autonomous Underwater Vehicle(AUV),a six-degree-of-freedom fully actuated AUV is modeled and a corresponding Active Disturbance Rejection Controller(ADRC)is developed.Considering that the traditional ADRC requires excessive parameter tuning and necessitates corresponding adjustments as the system operates,in response to this,a novel approach based on Pigeon-Inspired Optimization(PIO)is proposed to optimize the ADRC.Under the same simulation conditions,the control effectiveness of the PIO-ADRC is compared against that of the Pigeon-Inspired Optimized Proportional Integral Derivative(PIO-PID)controller and traditional ADRC.The results indicate that the ADRC optimized with PIO algorithm exhibits smaller overshoot,reduced steady-state error and higher control efficiency.
关键词
水下机器人/运动控制/PIO-ADRC/艏向跟踪Key words
Autonomous Underwater Vehicle(AUV)/motion control/Pigeon-Inspired Optimization-Active Disturbance Rejection Controller(PIO-ADRC)/heading tracking引用本文复制引用
出版年
2024
NETL
NSTL
万方数据