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.
ZHENG Tianhai, FENG Zhengping, ZHAO Shuo, PAN Wanjun
. Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles[J]. Journal of Shanghai Jiaotong University(Science), 2020
, 25(4)
: 441
-446
.
DOI: 10.1007/s12204-020-2194-z
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