AUV’s Bottom Following Control Method Based on ADRC

doi:10.3969/j.issn.1000-1093.2015.10.016

Abstract

Abstract: To make sure an autonomous underwater vehicle (AUV) have better resistance to the interference of the external environment and its own signal transmission, a bottom-following control method based on active disturbance rejection control (ADRC) is offered. The control method can transform the bottom-following control into pitch control and be designed with an AUV’s motion protection mechanism. In the simulation, a three-dimensional motion control, which is based on the proposed method, is made to simulate the whole process of AUV finishing the bottom-following task from the surface to the sea bottom. And it is compared with the control method based on PID. The results show that the ADRC-based bottom-following control method can fulfill the scheduled tasks accurately. Compared with PID, the new method has better control results, and can effectively suppress the overshoot and shake caused by interference.

Key words: control science and technology, autonomous underwater vehicle, bottom-following control, active disturbance rejection control

CLC Number:

TP24

WAN Lei， ZHANG Ying-hao， SUN Yu-shan， LI Yue-ming. AUV’s Bottom Following Control Method Based on ADRC[J]. Acta Armamentarii, 2015, 36(10): 1943-1948.

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