Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC
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 c...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-02-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2022.843020/full |
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| author | Xiong Wu Xiong Wu Du Jiang Du Jiang Du Jiang Juntong Yun Juntong Yun Xin Liu Xin Liu Ying Sun Ying Sun Ying Sun Bo Tao Bo Tao Bo Tao Xiliang Tong Xiliang Tong Manman Xu Manman Xu Manman Xu Jianyi Kong Jianyi Kong Jianyi Kong Ying Liu Ying Liu Guojun Zhao Guojun Zhao Zifan Fang |
| author_facet | Xiong Wu Xiong Wu Du Jiang Du Jiang Du Jiang Juntong Yun Juntong Yun Xin Liu Xin Liu Ying Sun Ying Sun Ying Sun Bo Tao Bo Tao Bo Tao Xiliang Tong Xiliang Tong Manman Xu Manman Xu Manman Xu Jianyi Kong Jianyi Kong Jianyi Kong Ying Liu Ying Liu Guojun Zhao Guojun Zhao Zifan Fang |
| author_sort | Xiong Wu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-20T19:19:21Z |
| format | Article |
| id | doaj.art-50c2a421072349cea6c2cb86f6e34244 |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-12-20T19:19:21Z |
| publishDate | 2022-02-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-50c2a421072349cea6c2cb86f6e342442022-12-21T19:29:02ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852022-02-011010.3389/fbioe.2022.843020843020Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRCXiong Wu0Xiong Wu1Du Jiang2Du Jiang3Du Jiang4Juntong Yun5Juntong Yun6Xin Liu7Xin Liu8Ying Sun9Ying Sun10Ying Sun11Bo Tao12Bo Tao13Bo Tao14Xiliang Tong15Xiliang Tong16Manman Xu17Manman Xu18Manman Xu19Jianyi Kong20Jianyi Kong21Jianyi Kong22Ying Liu23Ying Liu24Guojun Zhao25Guojun Zhao26Zifan Fang27Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaResearch Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaResearch Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaResearch Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaResearch Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaResearch Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaResearch Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, ChinaHubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, ChinaAutonomous 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.https://www.frontiersin.org/articles/10.3389/fbioe.2022.843020/fullAUV (autonomous underwater vehicle)ADRC (active disturbance rejection control)PSO (partial swarm optimization)attitude controlanti-disturbance control |
| spellingShingle | Xiong Wu Xiong Wu Du Jiang Du Jiang Du Jiang Juntong Yun Juntong Yun Xin Liu Xin Liu Ying Sun Ying Sun Ying Sun Bo Tao Bo Tao Bo Tao Xiliang Tong Xiliang Tong Manman Xu Manman Xu Manman Xu Jianyi Kong Jianyi Kong Jianyi Kong Ying Liu Ying Liu Guojun Zhao Guojun Zhao Zifan Fang Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC Frontiers in Bioengineering and Biotechnology AUV (autonomous underwater vehicle) ADRC (active disturbance rejection control) PSO (partial swarm optimization) attitude control anti-disturbance control |
| title | Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC |
| title_full | Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC |
| title_fullStr | Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC |
| title_full_unstemmed | Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC |
| title_short | Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC |
| title_sort | attitude stabilization control of autonomous underwater vehicle based on decoupling algorithm and pso adrc |
| topic | AUV (autonomous underwater vehicle) ADRC (active disturbance rejection control) PSO (partial swarm optimization) attitude control anti-disturbance control |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2022.843020/full |
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