Abstract
Aiming at the problem of automatic depth control for Remotely Operated Vehicle (ROV) under complex disturbed environment, this paper designs a control scheme used the improved Linear Active Disturbance Rejection Controller (LADRC) based on nutcracker optimization algorithm (NOA). Firstly, in order to solve the disturbance problem in the depth control process of ROV under complex disturbed environment, the LADRC is applied to the depth control of ROV to improve the disturbance rejection capability of the system. After that, due to the difficulty and uncertainty of LADRC parameter tuning, the global search capability of nutcracker optimization algorithm is used to optimize the LADRC controller. It realizes the automatic tuning of LADRC parameters, thus realizes the fast and high-accuracy depth control. Finally, the simulation and experimental verification are completed. The overshooting amount of the NOA-LADRC control scheme in the depth control of ROV is almost zero, the control accuracy and disturbance rejection capability are improved by about 50%.
Published Version
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