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Path following control of fully-actuated autonomous underwater vehicle in presence of fast-varying disturbances |
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| Institution: | 1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, 430074, Wuhan, China;2. Department of Robotics, CNRS-LIRMM-UMII, UMR 5506-CC 477, 161 rue Ada, 34392 Montpellier Cedex 5, France;1. School of Electrical and Information Engineering, Northeast Petroleum University, Daqing 163318, China;2. Department of Mathematics, Yangzhou University, Yangzhou 225002, China;3. Communication Systems and Networks (CSN) Research Group, Faculty of Engineering, King Abdulaziz University, Jeddah 21589, Saudi Arabia;u166. College of Automation, Harbin Engineering University, Harbin Heilongjiang, 150001, China;1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, Wuhan 430074, China;2. Department of Robotics, CNRS-LIRMM-UMII, UMR 5506-CC 477, 161 rue Ada, 34392 Montpellier Cedex 5, France;3. State Key Lab of Digital Manufacturing, Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China |
| Abstract: | This paper presents an improved active disturbances rejecter control (ADRC) for path following control of autonomous underwater vehicles under significant fast-varying disturbances caused by waves and sea currents. Two significant and efficient improvements are introduced to the traditional ADRC in order to accomplish this task. First, a generalized ESO (GESO) and Harmonic ESO (HESO) were designed to achieve a high disturbances estimation quality. Secondly, two AUV path following controllers based on ADRC-GESO and ADRC-HESO were designed to ensure a high performance tracking in presence of periodic-type disturbances. Finally, numerical simulations were performed and the obtained results showed very significant enhancements of robustness and tracking accuracy by the proposed methods compared to conventional ADRC. |
| Keywords: | Autonomous underwater vehicles Active disturbances rejecter control Generalized extended state observer Harmonic extended state observer |
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