Abstract
Trajectory-keeping is the main motion mode of AUV (Autonomous Underwater Vehicle) for terrain survey mission. However, it is not easy to realize an accurate trajectory-keeping control especially under current disturbances. Auto disturbance rejection control (ADRC) is an effective control method with good robustness, fast response and precise compensation of disturbance, but is difficult to select the parameters. So, the recurrent networks model (RNM) is used to optimize the parameters of ADRC in this paper. By RNM, the parameters of ADRC can realize real-time optimizing to reject the disturbances much better. Then, the RNM-ADRC controller is designed for heading control of AUV with cross tracking error (CTE) heading guidance method. Simulations show that the controller proposed in this paper has strong adaptability, fast response and good disturbance rejection. The trajectory-keeping effect using RNM-ADRC is better than ADRC under strong current disturbance.
This paper is supported by National Natural Science Foundation (NNSF) of China under Grant (51609046, 51609048), Harbin Science and Technology Bureau of China under Grant (2016RQQXJ089, 2016RAQXJ080), Fundamental Research Funds for the Central Universities (HEUCF XXX).
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Chen, T., Gao, H., Xu, D., Wan, C., Wang, Y., Yan, Z. (2017). Trajectory-Keeping Control of AUV Based on RNM-ADRC Method Under Current Disturbances for Terrain Survey Mission. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_71
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DOI: https://doi.org/10.1007/978-3-319-65289-4_71
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