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Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

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Abstract

The total disturbance estimated by the extended state observer (ESO) in active disturbance rejection controller (ADRC) is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles (UFVs). In order to prevent rudder from high-frequency chattering caused by measurement noise, a tracking-differentiator (TD) is integrated to the ESO to develop an improved ADRC scheme. The improved ADRC suppresses the impact of sensor noise. Both the results of simulations and tank tests show the effectiveness of improved ADRC based heading control.

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Authors and Affiliations

  1. School of Naval Architecture, Ocean and Civil Engineering, New Orleans, USA

    Tianhai Zheng  (郑天海), Zhengping Feng  (冯正平) & Shuo Zhao  (赵 硕)

  2. Collaborative Innovation Center for Advanced Ship and Deep Sea Exploration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zhengping Feng  (冯正平) & Wanjun Pan  (潘万钧)

Authors
  1. Tianhai Zheng  (郑天海)
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  2. Zhengping Feng  (冯正平)
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  3. Shuo Zhao  (赵 硕)
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  4. Wanjun Pan  (潘万钧)
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Corresponding author

Correspondence to Zhengping Feng  (冯正平).

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Zheng, T., Feng, Z., Zhao, S. et al. Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles. J. Shanghai Jiaotong Univ. (Sci.) 25, 441–446 (2020). https://doi.org/10.1007/s12204-020-2194-z

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  • DOI: https://doi.org/10.1007/s12204-020-2194-z

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