Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT
Active disturbance rejection control(ADRC) is model-independent and exhibits strong robustness against disturbances, effectively addressing the uncertainties of autonomous undersea vehicle(AUV) models and complex external environments. However, parameter tuning for active disturbance rejection contr...
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| Format: | Article |
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Science Press (China)
2024-12-01
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| Series: | 水下无人系统学报 |
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| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0071 |
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| _version_ | 1841557011882311680 |
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| author | Xiaodong HOU Rui YANG Ming LI |
| author_facet | Xiaodong HOU Rui YANG Ming LI |
| author_sort | Xiaodong HOU |
| collection | DOAJ |
| description | Active disturbance rejection control(ADRC) is model-independent and exhibits strong robustness against disturbances, effectively addressing the uncertainties of autonomous undersea vehicle(AUV) models and complex external environments. However, parameter tuning for active disturbance rejection controllers presents certain difficulties. To tackle this issue, a parameter tuning method based on virtual reference feedback tuning(VRFT) was proposed. Initially, an active disturbance rejection controller was designed for the yaw model of the AUV. Subsequently, a parameter tuning method for VRFT-active disturbance rejection was presented. Finally, to address the issue of angular sensor delay, a design method for an active disturbance rejection controller based on the Smith predictor was proposed. The simulation results demonstrate that this method can tune the parameters of the active disturbance rejection controller for AUVs solely based on the open-loop experimental input and output data under the condition of unknown model information, achieving the desired control effect. |
| format | Article |
| id | doaj-art-540fce94ccbc4ef2a66afa40832a0a07 |
| institution | Kabale University |
| issn | 2096-3920 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Science Press (China) |
| record_format | Article |
| series | 水下无人系统学报 |
| spelling | doaj-art-540fce94ccbc4ef2a66afa40832a0a072025-01-07T02:42:15ZzhoScience Press (China)水下无人系统学报2096-39202024-12-013261000100810.11993/j.issn.2096-3920.2024-00712024-0071Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFTXiaodong HOU0Rui YANG1Ming LI2Engineering College, Ocean University of China, Qingdao 266500, ChinaEngineering College, Ocean University of China, Qingdao 266500, ChinaEngineering College, Ocean University of China, Qingdao 266500, ChinaActive disturbance rejection control(ADRC) is model-independent and exhibits strong robustness against disturbances, effectively addressing the uncertainties of autonomous undersea vehicle(AUV) models and complex external environments. However, parameter tuning for active disturbance rejection controllers presents certain difficulties. To tackle this issue, a parameter tuning method based on virtual reference feedback tuning(VRFT) was proposed. Initially, an active disturbance rejection controller was designed for the yaw model of the AUV. Subsequently, a parameter tuning method for VRFT-active disturbance rejection was presented. Finally, to address the issue of angular sensor delay, a design method for an active disturbance rejection controller based on the Smith predictor was proposed. The simulation results demonstrate that this method can tune the parameters of the active disturbance rejection controller for AUVs solely based on the open-loop experimental input and output data under the condition of unknown model information, achieving the desired control effect.https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0071autonomous undersea vehicleactive disturbance rejection controlparameter tuningvirtual reference feedback tuning |
| spellingShingle | Xiaodong HOU Rui YANG Ming LI Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT 水下无人系统学报 autonomous undersea vehicle active disturbance rejection control parameter tuning virtual reference feedback tuning |
| title | Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT |
| title_full | Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT |
| title_fullStr | Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT |
| title_full_unstemmed | Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT |
| title_short | Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT |
| title_sort | parameter tuning method of active disturbance rejection controller for auvs based on vrft |
| topic | autonomous undersea vehicle active disturbance rejection control parameter tuning virtual reference feedback tuning |
| url | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0071 |
| work_keys_str_mv | AT xiaodonghou parametertuningmethodofactivedisturbancerejectioncontrollerforauvsbasedonvrft AT ruiyang parametertuningmethodofactivedisturbancerejectioncontrollerforauvsbasedonvrft AT mingli parametertuningmethodofactivedisturbancerejectioncontrollerforauvsbasedonvrft |