Abstract
Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface.
Highlights
AUV (Autonomous Underwater Vehicle) rolls severely if it is navigating near water surface and wave disturbance has an obvious effect on its motion attitude
Because the problem discussed in this paper is attitude control of AUV with low navigating speed, it is necessary to consider additional effect of water flow on lift force while sea water flows through fin surface with relative flow speed
Lift model of fin stabilizer when AUV is navigating with low speed can be given by
Summary
AUV (Autonomous Underwater Vehicle) rolls severely if it is navigating near water surface and wave disturbance has an obvious effect on its motion attitude. Traditional fin stabilizer is hard to generate enough lift when AUV is navigating with low speed [2]. A new pattern of fin stabilizer working is required to realize effective roll control in low speed navigation. Considering the characteristic of AUV motion with low speed near water surface, roll attitude is controlled by zerospeed fin stabilizer which is based on Weis-Fogh device. Compared to traditional PID which is based on the precise linear model of controlled system, ADRFC is more applicable to nonlinear system with time-variant parameters or incomplete model structure. From this point of view, ADRFC reduces the requirement on model accuracy in the premise of ensuring control performance. Lift force calculation becomes more accurate, and design of lift force control is simplified
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