Abstract
Autonomous Underwater Vehicle are widely used in industries, such as marine resource exploitation and fish farming, but they are often subject to a large amount of interference which cause poor control stability, while performing their tasks. A decoupling control algorithm is proposed and A single control volume–single attitude angle model is constructed for the problem of severe coupling in the control system of attitude of six degrees of freedom Autonomous Underwater Vehicle. Aiming at the problem of complex Active Disturbance Rejection Control (ADRC) adjustment relying on manual experience, the PSO-ADRC algorithm is proposed to realize the automatic adjustment of its parameters, which improves the anti-interference ability and control accuracy of Autonomous Underwater Vehicle in dynamic environment. The anti-interference ability and control accuracy of the method were verified through experiments.
Highlights
Autonomous Underwater Vehicle (AUV) can adapt excellently to the highly variable and dangerous deep-sea environment and are often used as an important platform for ocean work and underwater inspection
Complex and diverse interference in the working environment, and the main contributions of this paper are as follows: 1) A decoupling method is proposed for the six-degree-offreedom AUV, which solves the problem of serious coupling between variables and realizes that one output variable corresponds to one input variable of the attitude angle
The other parts of this paper are as follows, Related Work offers a review of control methods for AUV, AUV Attitude AntiDisturbance Decoupling Control analyzes the forces on the AUV and establishes a mathematical model, and proposes a decoupling algorithm for the problem of severe model coupling, and improves a Active Disturbance Rejection Control for attitude control of AUV based on Particle Swarm Optimization, Simulation Experiments gives a simulation control test of different controllers for environmental disturbances and system changes. and the conclusions of this paper are summarized in Conclusion
Summary
Autonomous Underwater Vehicle (AUV) can adapt excellently to the highly variable and dangerous deep-sea environment and are often used as an important platform for ocean work and underwater inspection. Attitude Stabilization Control of AUV complex and diverse interference in the working environment, and the main contributions of this paper are as follows: 1) A decoupling method is proposed for the six-degree-offreedom AUV, which solves the problem of serious coupling between variables and realizes that one output variable corresponds to one input variable of the attitude angle. The other parts of this paper are as follows, Related Work offers a review of control methods for AUV, AUV Attitude AntiDisturbance Decoupling Control analyzes the forces on the AUV and establishes a mathematical model, and proposes a decoupling algorithm for the problem of severe model coupling, and improves a Active Disturbance Rejection Control for attitude control of AUV based on Particle Swarm Optimization, Simulation Experiments gives a simulation control test of different controllers for environmental disturbances and system changes. The other parts of this paper are as follows, Related Work offers a review of control methods for AUV, AUV Attitude AntiDisturbance Decoupling Control analyzes the forces on the AUV and establishes a mathematical model, and proposes a decoupling algorithm for the problem of severe model coupling, and improves a Active Disturbance Rejection Control for attitude control of AUV based on Particle Swarm Optimization, Simulation Experiments gives a simulation control test of different controllers for environmental disturbances and system changes. and the conclusions of this paper are summarized in Conclusion
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