scholarly journals Autonomous underwater vehicle depth control based on an improved active disturbance rejection controller

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989153
Author(s):  
Zhengzheng Zhang ◽  
Bingyou Liu ◽  
Lichao Wang
Keyword(s):  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
External Disturbance ◽  
Underwater Vehicle ◽  
Active Disturbance Rejection Control ◽  
Optimal Control Strategy ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Depth Control

Large fluctuation, large overshoot, and uncertain external disturbance that occur when an autonomous underwater vehicle is in deep motion are difficult to address using the traditional control method. An optimal control strategy based on an improved active disturbance rejection control technology is proposed to enhance the trajectory tracking accuracy of autonomous underwater vehicles in actual bathymetric operations and resist external and internal disturbances. First, the depth motion and mathematical models of an autonomous underwater vehicle and propeller are established, respectively. Second, the control rate of the extended state observer and the nonlinear error feedback of the traditional active disturbance rejection control are improved by using a new nonlinear function. The nonlinearity, model uncertainty, and external disturbance of the autonomous underwater vehicle depth control system are extended to a new state, which is realized by an improved extended state observer. Third, the improved nonlinear state error feedback is used to suppress residual errors and provide high-quality control for the system. Simulation and experimental results show that under the same parameters, the traditional active disturbance rejection control has a small overshoot, fast tracking ability, and strong anti-interference ability. The optimized active disturbance rejection control and traditional active disturbance rejection control are applied to the deep-variation motion of autonomous underwater vehicles. Results show that the proposed optimal control strategy is not only simple and feasible but also demonstrates good control performance.

scholarly journals Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142090963
Author(s):  
Tianqi Xie ◽  
Ye Li ◽  
Yanqing Jiang ◽  
Li An ◽  
Haowei Wu
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Time Varying ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of underactuated autonomous underwater vehicle are acquired. Following this, reduced-order linear extended state observers are designed to estimate and compensate for the uncertainties that exist in the model and the external disturbances. A backstepping active disturbance rejection control method is designed with the help of a time-varying barrier Lyapunov function to constrain the position tracking error. Furthermore, the controller system can be proved to be stable by employing the Lyapunov stability theory. Finally, the simulation and comparative analyses demonstrate the usefulness and robustness of the proposed controller in the presence of internal parameter uncertainties and external time-varying disturbances.

scholarly journals Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection

2021 ◽  
Vol 9 (11) ◽  
pp. 1306
Author(s):  
Junhe Wan ◽  
Hailin Liu ◽  
Jian Yuan ◽  
Yue Shen ◽  
Hao Zhang ◽  
...  
Keyword(s):  
Fractional Calculus ◽  
Disturbance Rejection ◽  
Autonomous Underwater Vehicle ◽  
Estimation Error ◽  
Underwater Vehicle ◽  
Superior Performance ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
The Stability

An active disturbance rejection control based on fractional calculus is proposed to improve the motion performance and robustness of autonomous underwater vehicle (AUV). The active disturbance rejection control (ADRC) method can estimate and compensate the total disturbance of AUV automatically. The fractional-order PID (proportional integral derivative) has fast dynamic response, which can eliminate the estimation error of extended state observer. The fractional calculus active disturbance rejection strategy combines the advantages of the above two algorithms, and it is designed for AUV heading and pitch subsystems. In addition, the stability of fractional calculus ADRC heading subsystem is proven by Lyapunov stability theorem. The numerical simulations and experimental results document that the superior performance has been achieved. The fractional calculus ADRC strategy has more excellent abilities for disturbance rejection, performs better than ADRC and PID, and has important theoretical and practical value.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

On External Disturbance Rejection of Linear ADRC

2019 ◽  
Author(s):  
Huiyu Jin ◽  
Yang Chen ◽  
Weiyao Lan
Keyword(s):  
High Frequency ◽  
Disturbance Rejection ◽  
Bandpass Filter ◽  
External Disturbance ◽  
Low Frequency ◽  
Second Order ◽  
Control Technology ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Abstract Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its ability to reject external disturbance is necessary to investigate deeply. Focusing on the simple case that the plant is an exactly known second order plant, this paper investigates the external disturbance rejection of linear ADRC. It reveals a separation diagram, in which the external disturbance goes into the output via a bandpass filter. That is the reason why linear ADRC can reject both low-frequency and high-frequency external disturbance.

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