AUV’s Executer Fault-Tolerant Control Based on ADRC

Abstract

An autonomous under vehicle (AUV) should have the ability of self-saving and finishing the certain targets when faults occur, which means that an AUV must have the ability of fault-tolerant control. In order to make it possible, one AUV’s fault-tolerant control strategy is made, which is based on the active disturbance rejection control (ADRC). In this paper, the control method in normal and the one in fault are offered respectively. Besides that, one simulation compared with PID control is made. The simulation results show the AUV’s fault-tolerant control strategy based on ADRC can achieve the goal and has better control results to restrain the shock, overshoot and other phenomena caused by disturbance than the strategy based on PID.

ADRC‐SMC‐based disturbance rejection depth‐tracking control of underactuated AUV

“…ADRC has captured the interest of researchers and engineers due to its independence from a precise model, ease in engineering implementation and superior disturbance rejection performance. A single‐loop ADRC is implemented directly from depth error to elevators (Chen et al, 2014; Wan et al, 2014). Despite the method has a straightforward structure, it is unable to identify the disturbance source and control the crucial pitch angle.…”