Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

The total disturbance estimated by the extended state observer (ESO) in active disturbance rejection controller (ADRC) is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles (UFVs). In order to prevent rudder from high-frequency chatt...

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Veröffentlicht in:Shanghai jiao tong da xue xue bao. Yi xue ban 2020-08, Vol.25 (4), p.441
Hauptverfasser: Zheng, Tianhai, Feng, Zhengping, Zhao, Shuo, Pan, Wanjun
Format: Artikel
Sprache:chi
Schlagworte:
Controllers
Disturbances
Flight
Flight vehicles
Noise
Noise control
Noise measurement
Rejection
Rudders
State observers
Underwater
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Zusammenfassung:The total disturbance estimated by the extended state observer (ESO) in active disturbance rejection controller (ADRC) is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles (UFVs). In order to prevent rudder from high-frequency chattering caused by measurement noise, a tracking-differentiator (TD) is integrated to the ESO to develop an improved ADRC scheme. The improved ADRC suppresses the impact of sensor noise. Both the results of simulations and tank tests show the effectiveness of improved ADRC based heading control.
ISSN:1674-8115