AUV’s Executer Fault-Tolerant Control Based on ADRC

Lei Wan; Ying Hao Zhang; Yu Shan Sun; Yue Ming Li

doi:10.4028/www.scientific.net/AMR.1006-1007.581

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 1006-1007AUV’s Executer Fault-Tolerant Control Based on...

AUV’s Executer Fault-Tolerant Control Based on ADRC

Abstract:

An autonomous under vehicle (AUV) should have the ability of self-saving and finishing the certain targets when faults occur, which means that an AUV must have the ability of fault-tolerant control. In order to make it possible, one AUV’s fault-tolerant control strategy is made, which is based on the active disturbance rejection control (ADRC). In this paper, the control method in normal and the one in fault are offered respectively. Besides that, one simulation compared with PID control is made. The simulation results show the AUV’s fault-tolerant control strategy based on ADRC can achieve the goal and has better control results to restrain the shock, overshoot and other phenomena caused by disturbance than the strategy based on PID.

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Periodical:

Advanced Materials Research (Volumes 1006-1007)

Pages:

581-585

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.1006-1007.581

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Online since:

August 2014

Authors:

Lei Wan, Ying Hao Zhang*, Yu Shan Sun, Yue Ming Li

Keywords:

Active Disturbance Rejection Control (ADRC), Autonomous Underwater Vehicle (AUV), Depth Control, Fault-Tolerant Control

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