<abstract xmlns="http://www.w3.org/1999/xhtml"><p> This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.</p></abstract>

This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.

Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle...

Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

Published Online: Jan 18, 2019

Page range: 39 - 48

DOI: https://doi.org/10.2478/pomr-2018-0130

Keywords
ADRC, Path following, AUV, uncertain parameters, ESO, Control law

© 2019 Habib Choukri, Lamraoui Zhu Qidan, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

Published Online: Jan 18, 2019

Page range: 39 - 48

DOI: https://doi.org/10.2478/pomr-2018-0130

KeywordsADRC, Path following, AUV, uncertain parameters, ESO, Control law

© 2019 Habib Choukri, Lamraoui Zhu Qidan, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
ADRC, Path following, AUV, uncertain parameters, ESO, Control law