摘要
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.
作者
郑天海
冯正平
赵硕
潘万钧
ZHENG Tianhai;FENG Zhengping;ZHAO Shuo;PAN Wanjun(School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Collaborative Innovation Center for Advanced Ship and Deep Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China)
