Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

doi:10.1007/s12204-020-2194-z

Journal of Shanghai Jiao Tong University(Science) ›› 2020, Vol. 25 ›› Issue (4): 441-446.doi: 10.1007/s12204-020-2194-z

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Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

ZHENG Tianhai (郑天海), FENG Zhengping (冯正平), ZHAO Shuo (赵硕), PAN Wanjun (潘万钧)

(a. School of Naval Architecture, Ocean and Civil Engineering; b. Collaborative Innovation Center for Advanced Ship and
Deep Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China)
(a. School of Naval Architecture, Ocean and Civil Engineering; b. Collaborative Innovation Center for Advanced Ship and
Deep Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China)

Online:2020-08-28 Published:2020-07-29
Contact: FENG Zhengping (冯正平) E-mail:zfeng@sjtu.edu.cn

Abstract

Abstract: The total disturbance estimated by the extended state observer (ESO) in active disturbance rejection
controller (ADRC) is affected greatly by measurement noise when the control step is small in heading control
of underwater flight vehicles (UFVs). In order to prevent rudder from high-frequency chattering caused by
measurement noise, a tracking-differentiator (TD) is integrated to the ESO to develop an improved ADRC scheme.
The improved ADRC suppresses the impact of sensor noise. Both the results of simulations and tank tests show
the effectiveness of improved ADRC based heading control.

Key words: active disturbance rejection control (ADRC)| tracking-differentiator (TD)| extended state observer
(ESO)| total disturbance, chattering| underwater flight vehicle (UFV)

摘要： The total disturbance estimated by the extended state observer (ESO) in active disturbance rejection
controller (ADRC) is affected greatly by measurement noise when the control step is small in heading control
of underwater flight vehicles (UFVs). In order to prevent rudder from high-frequency chattering caused by
measurement noise, a tracking-differentiator (TD) is integrated to the ESO to develop an improved ADRC scheme.
The improved ADRC suppresses the impact of sensor noise. Both the results of simulations and tank tests show
the effectiveness of improved ADRC based heading control.

关键词: active disturbance rejection control (ADRC)| tracking-differentiator (TD)| extended state observer
(ESO)| total disturbance, chattering| underwater flight vehicle (UFV)

ZHENG Tianhai, FENG Zhengping, ZHAO Shuo, PAN Wanjun. Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 441-446.

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Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

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[1]	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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