机械制造与自动化2025，Vol.54Issue(3)：250-253,300,5.DOI:10.19344/j.cnki.issn1671-5276.2025.03.048
基于分数阶自抗扰的水下滑翔机运动控制研究
Research on Motion Control of Underwater Glider Based on Fractional Order Active Disturbance Rejection Control
摘要
Abstract
Regarding the seriously affected trajectory in observing strong currents such as the Kuroshio by underwater glider,a fractional order active disturbance rejection controller is designed for the trajectory tracking control problem of underwater glider in the Kuroshio area.This paper,taking Petrel-Ⅱ as the research object,deduces and builds a mathematical model by Simulink considering Kuroshio.An improved fractional order controler is designed and its tracking control effect is simulated and verified.The simulation results show that the improved fractional order active disturbance rejection controller can improve the tracking accuracy of Petrel-Ⅱ in motion in the Kuroshio area to a certain extent.关键词
分数阶自抗扰控制/扩张状态观测器/水下滑翔机/黑潮/运动控制Key words
fraction order active disturbance rejection control/extended state observer/underwater glider/Kuroshio/motion control分类
海洋科学引用本文复制引用
马玉印,王娜,丁军航,李沛..基于分数阶自抗扰的水下滑翔机运动控制研究[J].机械制造与自动化,2025,54(3):250-253,300,5.基金项目
2020年山东省自然科学基金重点项目(ZR2020KF034) （ZR2020KF034）
崂山实验室科技创新项目(LSKJ202201904) （LSKJ202201904）
