Attitude Adjustment of a Multi-joint AUV Using an Improved LADRC

To achieve vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with the orthogonal joints structure was designed, and its virtual prototype was built using Automatic Dynamic Analysis of Mechanical Systems (ADAMS). This paper focuses on the...

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Bibliographic Details
Main Authors: Yu, Lin, Liu, Ke-Xian, Meng, Qing-Hao
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
Attitude control
EVG-LADRC
Mathematical model
MJ-AUV
Navigation
Oceans
PD control
PI control
virtual prototype
Online Access:Request full text
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Summary:To achieve vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle (MJ-AUV) with the orthogonal joints structure was designed, and its virtual prototype was built using Automatic Dynamic Analysis of Mechanical Systems (ADAMS). This paper focuses on the attitude control of the designed MJ-AUV which is a nonlinear system with strong coupling, big hysteresis, large inertia, and time-varying disturbance. According to the special structure of the MJ-AUV, an error based variable gain linear active disturbance rejection controller (EVG-LADRC) was proposed and compared with the traditional proportional-integral-derivative (PID) controller and LADRC. Simulation results demonstrated that EVG-LADRC outperformed the PID and LADRC in terms of rapidity, anti-interference, and accuracy.
ISSN:2161-2927
DOI:10.23919/CCC50068.2020.9189183