Active Disturbance Rejection Control for Improved Depth Model of AUV

Abstract:

This paper studies the implementation of an ADRC to deal with depth variations of AUV. The depth model of AUV is decoupled from the 6 DOF dynamics function at first. Then, the least square method is introduced to identify the nonlinear open-loop model of AUV offline, and a more accurate depth model that varies with the elevator angle is achieved. Finally, ADRC is applied to the improved depth model with the disturbance of inaccuracy elevator angle and the error of depth measurement. The result confirms that AUV depth model varies with the elevator angle, while the ADRC controller could reject the errors in the depth sensor and the disturbances of mechanical transmission of rudder and the nonlinear variations at different operating points. Comparing to the traditional PID controller, ADRC performs better respectively with these uncertainty. The contribution of the proposed controller would support to the future application to 3D motion control and path tracking of AUV in practice.

• Periodical: Applied Mechanics and Materials (Volumes 687-691)
• Pages: 157-162
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.687-691.157
• Online since: November 2014
• Authors: Jun Jie Liu, Hong Chen, Lei Wang, Ming Yang Yu
• Keywords: Active Disturbance Rejection Control (ADRC), Autonomous Underwater Vehicle (AUV), Improved Depth Model, Least-Square Method (LSM)

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