Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC

• Published in: Frontiers in bioengineering and biotechnology Vol. 10; p. 843020
• Main Authors: Wu, Xiong, Jiang, Du, Yun, Juntong, Liu, Xin, Sun, Ying, Tao, Bo, Tong, Xiliang, Xu, Manman, Kong, Jianyi, Liu, Ying, Zhao, Guojun, Fang, Zifan
• Format: Journal Article
• Language: English
• Published: Switzerland Frontiers Media S.A 28.02.2022
• Subjects: ADRC (active disturbance rejection control); anti-disturbance control; attitude control; AUV (autonomous underwater vehicle); Bioengineering and Biotechnology; PSO (partial swarm optimization); attitude control; PSO (partial swarm optimization); ADRC (active disturbance rejection control); AUV (autonomous underwater vehicle); anti-disturbance control
• ISSN: 2296-4185; 2296-4185
• DOI: 10.3389/fbioe.2022.843020

Autonomous Underwater Vehicle are widely used in industries, such as marine resource exploitation and fish farming, but they are often subject to a large amount of interference which cause poor control stability, while performing their tasks. A decoupling control algorithm is proposed and A single control volume–single attitude angle model is constructed for the problem of severe coupling in the control system of attitude of six degrees of freedom Autonomous Underwater Vehicle. Aiming at the problem of complex Active Disturbance Rejection Control (ADRC) adjustment relying on manual experience, the PSO-ADRC algorithm is proposed to realize the automatic adjustment of its parameters, which improves the anti-interference ability and control accuracy of Autonomous Underwater Vehicle in dynamic environment. The anti-interference ability and control accuracy of the method were verified through experiments.