水下无人系统学报2024，Vol.32Issue(6)：1000-1008,9.DOI:10.11993/j.issn.2096-3920.2024-0071
基于VRFT的AUV自抗扰控制器参数整定方法
Parameter Tuning Method of Active Disturbance Rejection Controller for AUVs Based on VRFT
摘要
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.关键词
自主水下航行器/自抗扰控制/参数整定/虚拟参考反馈整定Key words
autonomous undersea vehicle/active disturbance rejection control/parameter tuning/virtual reference feedback tuning分类
军事科技引用本文复制引用
侯孝东,杨睿,黎明..基于VRFT的AUV自抗扰控制器参数整定方法[J].水下无人系统学报,2024,32(6):1000-1008,9.基金项目
山东省重点研发计划(重大科技创新工程)(2021ZLGX04). （重大科技创新工程）
