Abstract
An active disturbance rejection control based on fractional calculus is proposed to improve the motion performance and robustness of autonomous underwater vehicle (AUV). The active disturbance rejection control (ADRC) method can estimate and compensate the total disturbance of AUV automatically. The fractional-order PID (proportional integral derivative) has fast dynamic response, which can eliminate the estimation error of extended state observer. The fractional calculus active disturbance rejection strategy combines the advantages of the above two algorithms, and it is designed for AUV heading and pitch subsystems. In addition, the stability of fractional calculus ADRC heading subsystem is proven by Lyapunov stability theorem. The numerical simulations and experimental results document that the superior performance has been achieved. The fractional calculus ADRC strategy has more excellent abilities for disturbance rejection, performs better than ADRC and PID, and has important theoretical and practical value.
Highlights
Autonomous underwater vehicles (AUV) are playing an increasingly important role in developing unknown ocean and accomplishing different military missions in recent years
It combines the advantages of active disturbance rejection control (ADRC) and fractional calculus; The stability of fractional calculus active disturbance rejection system is proven by Lyapunov stability theorem; The fractional calculus active disturbance rejection is sufficiently simulated and successfully employed in heading and pitch subsystems
The heading angle of ADRC ranges from 7.6562◦ to 8.3081◦, and the heading angle of fractional calculus ADRC ranges from 7.8919◦ to 8.1169◦
Summary
Autonomous underwater vehicles (AUV) are playing an increasingly important role in developing unknown ocean and accomplishing different military missions in recent years. A diving ADRC method based on improved tracking differentiator for AUV was proposed, and the simulations verified the effectiveness [13]. The mentioned literature inspires fractional calculus ADRC scheme for AUV motion control. The fractional calculus active disturbance rejection strategy is proposed to improve the performance of AUV motion. It combines the advantages of ADRC and fractional calculus; The stability of fractional calculus active disturbance rejection system is proven by Lyapunov stability theorem; The fractional calculus active disturbance rejection is sufficiently simulated and successfully employed in heading and pitch subsystems.
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