ADRC Path-Following Control of Underactuated AUVs

Abstract

Abstract:

Abstract： To weaken the influence of the disturbance caused by the surroundings and signal transportation when an underactuated autonomous underwater vehicle (AUV) followed a certain path, this paper addressed a pathfollowing control method, based on the secondorder active disturbance rejection control (ADRC), the pathfollowing error equations in SerretFrenet coordinate and the corresponding kinematic and dynamic models. Besides, pathfollowing simulations were made by ADRC and traditional PID separately. The results of the simulations indicate that the controller based on ADRC can follow certain paths and compared with the controller based on traditional PID, it has a better control capability to restrain the shock, overshoot and other phenomena caused by the disturbance.
Key words：

Key words: underactuated autonomous underwater vehicle, path tracking control, active disturbance rejection control (ADRC)

CLC Number:

TP 24

WAN Lei1,ZHANG Yinghao1,SUN Yushan1,LI Yueming1,HE Bin1. ADRC Path-Following Control of Underactuated AUVs[J]. Journal of Shanghai Jiaotong University, 2014, 48(12): 1727-1731.

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