Observation reconstruction and disturbance compensation-based position control for autonomous underwater vehicle

Autor:	Wanping Song, Zengqiang Chen, Mingwei Sun, Qinglin Sun
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	Autonomous underwater vehicle (AUV) position control linear extended state observer (LESO) improved linear extended state observer (ILESO) proportion differentiation control sine cosine algorithm Control engineering systems. Automatic machinery (General) TJ212-225 Systems engineering TA168
Zdroj:	Systems Science & Control Engineering, Vol 10, Iss 1, Pp 377-387 (2022)
Druh dokumentu:	article
ISSN:	21642583 2164-2583
DOI:	10.1080/21642583.2022.2047124
Popis:	To address the position control problem of a six degrees of freedom autonomous underwater vehicle (AUV), the disturbance is observed by an observer and compensated by a controller in this paper. To ensure the vehicle reaches the specified position quickly, the sine cosine algorithm with individual memory is used to find suitable parameters for different controllers. The simulation results show that the observer can extract the system's internal and external uncertainty information in real-time, reduce the phase lag and improve the stability of AUV position control. For a system with complex nonlinearity such as AUV, the observer proposed in this paper has stronger applicability and better robustness.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/aa05a17ced804bdf9775d732cb5d8b4e Zobrazit plný text záznamu View record in DOAJ