Attitude Adjustment of a Multi-joint AUV Using an Improved LADRC
| Autor: | Qing-Hao Meng, Lin Yu, Ke-Xian Liu |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Multi joint Computer science media_common.quotation_subject PID controller 02 engineering and technology Inertia Mechanical system Attitude control Variable (computer science) Nonlinear system Hysteresis 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing media_common |
| Zdroj: | 2020 39th Chinese Control Conference (CCC). |
| DOI: | 10.23919/ccc50068.2020.9189183 |
| Popis: | To achieve vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with the orthogonal joints structure was designed, and its virtual prototype was built using Automatic Dynamic Analysis of Mechanical Systems (ADAMS). This paper focuses on the attitude control of the designed MJ-AUV which is a nonlinear system with strong coupling, big hysteresis, large inertia, and time-varying disturbance. According to the special structure of the MJ-AUV, an error based variable gain linear active disturbance rejection controller (EVG-LADRC) was proposed and compared with the traditional proportional-integral-derivative (PID) controller and LADRC. Simulation results demonstrated that EVG-LADRC outperformed the PID and LADRC in terms of rapidity, anti-interference, and accuracy. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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