Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance
Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active distu...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2015/835126 |
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| _version_ | 1832563791350464512 |
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| author | Lin-Lin Wang Hong-Jian Wang Li-Xin Pan Jun-Xi Guo |
| author_facet | Lin-Lin Wang Hong-Jian Wang Li-Xin Pan Jun-Xi Guo |
| author_sort | Lin-Lin Wang |
| collection | DOAJ |
| description | Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface. |
| format | Article |
| id | doaj-art-8c1213a35ad245d39a82497cb4d0fbfa |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-8c1213a35ad245d39a82497cb4d0fbfa2025-02-03T01:12:30ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2015-01-01201510.1155/2015/835126835126Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave DisturbanceLin-Lin Wang0Hong-Jian Wang1Li-Xin Pan2Jun-Xi Guo3College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaBeijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100190, ChinaSoftware College, Harbin Institution of Technology, Harbin 150001, ChinaConsidering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface.http://dx.doi.org/10.1155/2015/835126 |
| spellingShingle | Lin-Lin Wang Hong-Jian Wang Li-Xin Pan Jun-Xi Guo Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance Discrete Dynamics in Nature and Society |
| title | Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance |
| title_full | Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance |
| title_fullStr | Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance |
| title_full_unstemmed | Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance |
| title_short | Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance |
| title_sort | active disturbance rejection fuzzy controller for roll stabilization of autonomous underwater vehicle under wave disturbance |
| url | http://dx.doi.org/10.1155/2015/835126 |
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