Active Disturbance Rejection Control of Dish-shaped Underwater Vehicle with Omnidirectional Control

doi:10.12382/bgxb.2021.0148

Abstract

Abstract: The autonomous control of dish-shaped underwater vehicle under the condition of underactuation and multiple constraints is studied.A mechanical model of the underwater vehicle is established，and the underactuated control characteristics and the planar biaxial symmetrical structure of underwater vehicle are analyzed. An omnidirectional drive mechanism with four water jet thrusters is designed，and an omnidirectional control power output equation is given.An active disturbance rejection controller (ADRC) is designed，and a visual simulation platform of UAVs based on MATLAB+MFC is established. Through a large number of numerical experiments，the reliability and effectiveness of the controller are verified，and the smooth operation of the underwater vehicle in the dynamic process of three-dimensional space is realized.

Key words: dish-shapedunderwatervehicle, activedisturbancerejectioncontrol, stabilityanalysis, underwaterunmannedvehicle

CLC Number:

TP273

ZHANG Wenqing， ZOU Jiayun， ZHANG Xiaochuan， HAN Mei， ZOU Sichen. Active Disturbance Rejection Control of Dish-shaped Underwater Vehicle with Omnidirectional Control[J]. Acta Armamentarii, 2022, 43(3): 626-636.

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