Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance
Joint Authors
Wang, Linlin
Wang, Hong-Jian
Pan, Li-Xin
Guo, Jun-Xi
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-04-20
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Wang, Linlin& Wang, Hong-Jian& Pan, Li-Xin& Guo, Jun-Xi. 2015. Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance. Discrete Dynamics in Nature and Society،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1060782
Modern Language Association (MLA)
Wang, Linlin…[et al.]. Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance. Discrete Dynamics in Nature and Society No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1060782
American Medical Association (AMA)
Wang, Linlin& Wang, Hong-Jian& Pan, Li-Xin& Guo, Jun-Xi. Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance. Discrete Dynamics in Nature and Society. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1060782
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1060782