Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection
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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/9/11/1306 |
| _version_ | 1797509794959982592 |
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| author | Junhe Wan Hailin Liu Jian Yuan Yue Shen Hao Zhang Haoxiang Wang Yi Zheng |
| author_facet | Junhe Wan Hailin Liu Jian Yuan Yue Shen Hao Zhang Haoxiang Wang Yi Zheng |
| author_sort | Junhe Wan |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T05:22:47Z |
| format | Article |
| id | doaj.art-98503a4127f9453bb90e91278e6bfc79 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T05:22:47Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-98503a4127f9453bb90e91278e6bfc792023-11-22T23:54:47ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-11-01911130610.3390/jmse9111306Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance RejectionJunhe Wan0Hailin Liu1Jian Yuan2Yue Shen3Hao Zhang4Haoxiang Wang5Yi Zheng6Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), 37 Miaoling Road, Qingdao 266001, ChinaInstitute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), 37 Miaoling Road, Qingdao 266001, ChinaInstitute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), 37 Miaoling Road, Qingdao 266001, ChinaSchool of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, ChinaInstitute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), 37 Miaoling Road, Qingdao 266001, ChinaQingdao No. 1 International School of Shandong Province, 232 Songling Road, Qingdao 266102, ChinaInstitute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), 37 Miaoling Road, Qingdao 266001, ChinaAn 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.https://www.mdpi.com/2077-1312/9/11/1306autonomous underwater vehicleactive disturbance rejection controlfractional calculusstability |
| spellingShingle | Junhe Wan Hailin Liu Jian Yuan Yue Shen Hao Zhang Haoxiang Wang Yi Zheng Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection Journal of Marine Science and Engineering autonomous underwater vehicle active disturbance rejection control fractional calculus stability |
| title | Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection |
| title_full | Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection |
| title_fullStr | Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection |
| title_full_unstemmed | Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection |
| title_short | Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection |
| title_sort | motion control of autonomous underwater vehicle based on fractional calculus active disturbance rejection |
| topic | autonomous underwater vehicle active disturbance rejection control fractional calculus stability |
| url | https://www.mdpi.com/2077-1312/9/11/1306 |
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