Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle
| Autor: | Tao Wang, Jianqin Wang, Chao Wu, Min Zhao, Tong Ge |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
disturbance-rejection control
extended state observer (ESO) hover mode transition mode negative buoyancy quad-tilt rotor autonomous underwater vehicle (AUV) Rodrigues parameters Technology Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 |
| Zdroj: | Applied Sciences, Vol 8, Iss 12, p 2459 (2018) |
| Druh dokumentu: | article |
| ISSN: | 2076-3417 |
| DOI: | 10.3390/app8122459 |
| Popis: | This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme. First, the structure of NQTAUV is illustrated, a mathematical model based on the Rodrigues parameters is proposed, and the attitude-tracking error model is derived. To simplify the disturbance-observer design procedure, a disturbance observer with a single parameter was designed to estimate the disturbance torque acting on the vehicle. The controller was designed to track the target attitude, and the stability of the whole system is analyzed. Finally, the performance of the proposed method was validated by three experiments. The primary benefit of the proposed method is the simplicity of its tuning and implementation. |
| Databáze: | Directory of Open Access Journals |
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