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...

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Autores principales:	Junhe Wan, Hailin Liu, Jian Yuan, Yue Shen, Hao Zhang, Haoxiang Wang, Yi Zheng
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	autonomous underwater vehicle active disturbance rejection control fractional calculus stability Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
Acceso en línea:	https://doaj.org/article/98503a4127f9453bb90e91278e6bfc79
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id	oai:doaj.org-article:98503a4127f9453bb90e91278e6bfc79
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spelling	oai:doaj.org-article:98503a4127f9453bb90e91278e6bfc792021-11-25T18:05:18ZMotion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection10.3390/jmse91113062077-1312https://doaj.org/article/98503a4127f9453bb90e91278e6bfc792021-11-01T00:00:00Zhttps://www.mdpi.com/2077-1312/9/11/1306https://doaj.org/toc/2077-1312An 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.Junhe WanHailin LiuJian YuanYue ShenHao ZhangHaoxiang WangYi ZhengMDPI AGarticleautonomous underwater vehicleactive disturbance rejection controlfractional calculusstabilityNaval architecture. Shipbuilding. Marine engineeringVM1-989OceanographyGC1-1581ENJournal of Marine Science and Engineering, Vol 9, Iss 1306, p 1306 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	autonomous underwater vehicle active disturbance rejection control fractional calculus stability Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
spellingShingle	autonomous underwater vehicle active disturbance rejection control fractional calculus stability Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581 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
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.
format	article
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
title	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_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_sort	motion control of autonomous underwater vehicle based on fractional calculus active disturbance rejection
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/98503a4127f9453bb90e91278e6bfc79
work_keys_str_mv	AT junhewan motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection AT hailinliu motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection AT jianyuan motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection AT yueshen motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection AT haozhang motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection AT haoxiangwang motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection AT yizheng motioncontrolofautonomousunderwatervehiclebasedonfractionalcalculusactivedisturbancerejection
_version_	1718411631542665216

Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection

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