NDLI: Depth control of AUV using active disturbance rejection controller

Content Provider	IEEE Xplore Digital Library
Author	Tao Chen Wei Zhang Jiajia Zhou Haomiao Yu Xiaofu Liu Yue Hao
Copyright Year	2014
Description	Author affiliation: Coll. of Autom., Harbin Eng. Univ., Harbin, China (Tao Chen; Wei Zhang; Jiajia Zhou; Haomiao Yu; Xiaofu Liu; Yue Hao)
Abstract	The intelligent motion control technology of Autonomous Underwater Vehicle (AUV) is the basis of long-distance voyage for AUV. The motion control capability in vertical plane is an important technical for AUV to complete multifarious missions. So, it is important and realistic significance to research on motion control in vertical plane of AUV. Motion control problem of AUV in vertical plane, especially depth control problems is researched based on active disturbance rejection control (ADRC) method in this paper. The kinetic and dynamic model in vertical plane of AUV is established and simplified. The active disturbance rejection controller design method is introduced. Detailed algorithms of each part for active disturbance rejection controller are discussed according to separability principle of ADRC. Based on ADRC, the depth controller is designed and applied in AUV. At last, simulation results indicate that the method is feasibility and effectiveness for AUV depth control.
Starting Page	7948
Ending Page	7952
File Size	165569
Page Count	5
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896328
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Uncertainty Observers Autonomous Underwater Vehicle Kinetic theory Mathematical model Depth Control Vehicle dynamics Active Disturbance Rejection Controller Equations
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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