Model-free Adaptive Auv Control Method Based on Active Disturbance Rejection

Abstract

The invention discloses a self-anti-jamming-based model-free self-adaptive AUV control method. The method comprises the steps that firstly, a differential tracker in self-anti-jamming control is usedfor arranging a transition process for input signals and extracting differential signals, then, an expansion state observer adopts uncertain disturbance of the system as total disturbance for performing real-time dynamic estimation and compensation, signals obtained by tracking of the differential tracker are input into a model-free self-adaptive controller, finally, the interference observed by the expansion state observer acts on an output rudder angle of the model-free self-adaptive controller, and finally AUV motion control is achieved. The contradiction between rapidness and super-tonality of a traditional control algorithm is overcome, the anti-jamming capability of the system is greatly improved, implementation is easy, the calculation amount is small, the robustness is high, the control effect for an unknown nonlinear time varying system is obvious, the method can be widely applied to AUV motion control, and the good control effect is achieved.

Description

technical field [0001] The invention belongs to the field of intelligent control of underwater robots, and in particular relates to a model-free self-adaptive AUV control method based on self-disturbance rejection. Background technique [0002] An autonomous underwater vehicle (AUV) is an underwater vehicle that has its own energy source and relies on its autonomy to manage and control itself to complete predetermined tasks. It can be used for marine scientific investigations, port security monitoring, underwater search and rescue, and naval applications. deployment etc. Motion control technology is one of the key technologies of underwater robots, and good motion control technology is the premise and guarantee for underwater robots to complete specific tasks. With the expansion of the application range of underwater robots, the requirements for autonomy, precision and stability of motion control are gradually increasing. Therefore, how to improve the control performance of...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the complex marine environment, the present invention proposes a model-free adaptive AUV control method based on self-disturbance rejection in order to make up for the shortcomings of traditional algorithm model design complexity and poor anti-interference ability, which can realize intelligent motion control without establishing an accurate mathematical model

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