Observation reconstruction and disturbance compensation-based position control for autonomous underwater vehicle

Abstract

To address the position control problem of a six degrees of freedom autonomous underwater vehicle (AUV), the disturbance is observed by an observer and compensated by a controller in this paper. To ensure the vehicle reaches the specified position quickly, the sine cosine algorithm with individual memory is used to find suitable parameters for different controllers. The simulation results show that the observer can extract the system's internal and external uncertainty information in real-time, reduce the phase lag and improve the stability of AUV position control. For a system with complex nonlinearity such as AUV, the observer proposed in this paper has stronger applicability and better robustness.

Keywords

• Autonomous underwater vehicle (AUV)
• position control
• linear extended state observer (LESO)
• improved linear extended state observer (ILESO)
• proportion differentiation control
• sine cosine algorithm