期刊
APPLIED OCEAN RESEARCH
卷 86, 期 -, 页码 40-46出版社
ELSEVIER SCI LTD
DOI: 10.1016/j.apor.2019.02.015
关键词
Autonomous underwater vehicles; Active disturbances rejecter control; Generalized extended state observer; Harmonic extended state observer
This paper presents an improved active disturbances rejecter control (ADRC) for path following control of autonomous underwater vehicles under significant fast-varying disturbances caused by waves and sea currents. Two significant and efficient improvements are introduced to the traditional ADRC in order to accomplish this task. First, a generalized ESO (GESO) and Harmonic ESO (HESO) were designed to achieve a high disturbances estimation quality. Secondly, two AUV path following controllers based on ADRC-GESO and ADRC-HESO were designed to ensure a high performance tracking in presence of periodic-type disturbances. Finally, numerical simulations were performed and the obtained results showed very significant enhancements of robustness and tracking accuracy by the proposed methods compared to conventional ADRC.
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