Abstract
In order to solve the problem that traditional control method can hardly meet the requirements of high precision and rapidity in depth control of autonomous underwater vehicle (AUV), the method of applying active disturbance rejection control to the system is proposed. In addition, a sliding mode active disturbance rejection controller, whose stability is proved to be good, is designed by introducing sliding mode surface and switching law into active disturbance rejection control. Then, we present some empirical conclusions of parameter tuning. Based on this, we simulated the above two algorithms and classical PID control algorithm. Comparing three results, we find that in AUV depth control, sliding mode active disturbance rejection controller has no overshoot, its adjustment time is short, and observation values can track actual values very well, which has certain practicality and promotion value.
Published Version
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