UUV trajective tracking control based on ADRC

In consider of docking task of AUV and underwater moving platform, an AUV tracking controller is designed. In this controller, target trajectory is calculated to determine AUV expected velocity and heading angle, during which, Lyapunov stability law is followed. An AUV heading angle and velocity controller is designed based on active disturbance rejection controller (ADRC) considered the perturbation of system model establishment and external disturb. The controller performed well, as is proved in the simulation experiment, that target trajectory is tracked effectively by trajectory tracking controller.

I. Introduction

Autonomous Underwater Vehicle (AUV) plays an important role in tasks such as deep-sea resource detection and extraction^[1], ocean data observation and collection, seabed topography analysis, mine hunting and clearance in military field, etc. But under circumstance that Battery development technology encounter bottlenecks and aquatic communication speed is low, the AUV use cost is high in that AUV needs to be docked and laid out frequently^[2]. Thus, AUV autonomous docking is important for information exchange and be supplied. To enable AUV execute the task of autonomous docking, it should be capable to track fixed path and track moving target. In consider of cost and weight, most AUVs do not equip vertical and transverse thrusters, only longitudinal velocity, pitch angle and heading angle can be directly controlled, which is typically under-actuated and nonlinear^[3]. As is mentioned above, AUV tracking control is a challenging problem.