Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT

Abstract

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.

Keywords

• autonomous undersea vehicle
• active disturbance rejection control
• parameter tuning
• virtual reference feedback tuning