Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles | |
Jiang ZB(姜志斌); Li S(李硕); Liu TJ(刘铁军) | |
2016 | |
会议名称 | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
会议日期 | December 3-7, 2016 |
会议地点 | Qingdao, China |
页码 | 1418-1423 |
通讯作者 | 姜志斌 |
中文摘要 | This paper presents the dynamic model and control scheme of an active variable buoyancy system (VBS) actuator for Autonomous Underwater Vehicles (AUVs). Our aim is to design an active disturbance rejection controller for the AUV maneuvering in the vertical plane with two VBS actuators. Firstly, a vertical plane mathematical model of AUV and a dynamics model of the VBS are established, and the model consists of three degrees of freedom (DOF) motion components that are surge, heave and pitch. The control scheme is decoupled into two subsystems including diving control and pitch control. Then, two improved extended state observers (ESOs) are employed and made comparative researches. The controller with improved ESOs can achieve good noise attenuation and robustness. Finally, field trial and simulation results illustrate the effectiveness of the proposed control scheme. |
收录类别 | EI |
产权排序 | 1 |
会议录 | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
会议录出版者 | IEEE |
会议录出版地 | New York |
语种 | 英语 |
ISBN号 | 978-1-5090-4363-7 |
内容类型 | 会议论文 |
源URL | [http://ir.sia.cn/handle/173321/19684] |
专题 | 沈阳自动化研究所_水下机器人研究室 |
推荐引用方式 GB/T 7714 | Jiang ZB,Li S,Liu TJ. Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016. |
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