Frontiers in Bioengineering and Biotechnology (Feb 2022)
Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC
- Xiong Wu,
- Xiong Wu,
- Du Jiang,
- Du Jiang,
- Du Jiang,
- Juntong Yun,
- Juntong Yun,
- Xin Liu,
- Xin Liu,
- Ying Sun,
- Ying Sun,
- Ying Sun,
- Bo Tao,
- Bo Tao,
- Bo Tao,
- Xiliang Tong,
- Xiliang Tong,
- Manman Xu,
- Manman Xu,
- Manman Xu,
- Jianyi Kong,
- Jianyi Kong,
- Jianyi Kong,
- Ying Liu,
- Ying Liu,
- Guojun Zhao,
- Guojun Zhao,
- Zifan Fang
Affiliations
- Xiong Wu
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Xiong Wu
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
- Du Jiang
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Du Jiang
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Du Jiang
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Juntong Yun
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
- Juntong Yun
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Xin Liu
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Xin Liu
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Ying Sun
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Ying Sun
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Ying Sun
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Bo Tao
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Bo Tao
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Bo Tao
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Xiliang Tong
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
- Xiliang Tong
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Manman Xu
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Manman Xu
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
- Manman Xu
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Jianyi Kong
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
- Jianyi Kong
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Jianyi Kong
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Ying Liu
- Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
- Ying Liu
- Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China
- Guojun Zhao
- Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
- Guojun Zhao
- Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
- Zifan Fang
- Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, China
- DOI
- https://doi.org/10.3389/fbioe.2022.843020
- Journal volume & issue
-
Vol. 10
Abstract
Autonomous Underwater Vehicle are widely used in industries, such as marine resource exploitation and fish farming, but they are often subject to a large amount of interference which cause poor control stability, while performing their tasks. A decoupling control algorithm is proposed and A single control volume–single attitude angle model is constructed for the problem of severe coupling in the control system of attitude of six degrees of freedom Autonomous Underwater Vehicle. Aiming at the problem of complex Active Disturbance Rejection Control (ADRC) adjustment relying on manual experience, the PSO-ADRC algorithm is proposed to realize the automatic adjustment of its parameters, which improves the anti-interference ability and control accuracy of Autonomous Underwater Vehicle in dynamic environment. The anti-interference ability and control accuracy of the method were verified through experiments.
Keywords
- AUV (autonomous underwater vehicle)
- ADRC (active disturbance rejection control)
- PSO (partial swarm optimization)
- attitude control
- anti-disturbance control
