SIA OpenIR  > 水下机器人研究室
Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles
Jiang ZB(姜志斌); Li S(李硕); Liu TJ(刘铁军)
Department水下机器人研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages1418-1423
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403534908
WOS IDWOS:000405724600239
Contribution Rank1
ISBN978-1-5090-4363-7
AbstractThis paper presents the dynamic model and control scheme of an active variable buoyancy system (VBS) actuator for Autonomous Underwater Vehicles (AUVs). Our aim is to design an active disturbance rejection controller for the AUV maneuvering in the vertical plane with two VBS actuators. Firstly, a vertical plane mathematical model of AUV and a dynamics model of the VBS are established, and the model consists of three degrees of freedom (DOF) motion components that are surge, heave and pitch. The control scheme is decoupled into two subsystems including diving control and pitch control. Then, two improved extended state observers (ESOs) are employed and made comparative researches. The controller with improved ESOs can achieve good noise attenuation and robustness. Finally, field trial and simulation results illustrate the effectiveness of the proposed control scheme.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19684
Collection水下机器人研究室
Corresponding AuthorJiang ZB(姜志斌)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
Jiang ZB,Li S,Liu TJ. Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles[C]. New York:IEEE,2016:1418-1423.
Files in This Item: Download All
File Name/Size DocType Version Access License
Active Disturbance R(354KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Jiang ZB(姜志斌)]'s Articles
[Li S(李硕)]'s Articles
[Liu TJ(刘铁军)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Jiang ZB(姜志斌)]'s Articles
[Li S(李硕)]'s Articles
[Liu TJ(刘铁军)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Jiang ZB(姜志斌)]'s Articles
[Li S(李硕)]'s Articles
[Liu TJ(刘铁军)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Active Disturbance Rejection Control for diving motion of Autonomous Underwater Vehicles.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.