AUV Path Tracking Based On Modified ADRC

Autonomous Underwater Vehicle(AUV)is a kind of unmanned vehicle used to perform underwater work,which has the characteristics of nonlinearity,strong coupling and sensitivity to outside interference.Therefore,the adoption of appropriate control and tracking methods is the key to ensure the working ability of AUV.In this paper,firstly,based on the mechanical modeling of our target civil underwater robot,the relevant power configuration is given,moreover,the selection of the target AUV’s processor is completed.After completing the relevant configuration of the AUV,a series of studies are conducted on its mathematical model,and the mathematical model of AUV is obtained through kinematic and dynamic analysis.The thrust distribution and related calculation of the target AUV are also completed.Then the establishment of target AUV dynamics model is completed on Simulink platform,and the idea of modified ADRC control based on the traditional control scheme is also given.Based on these studies,the realization of three different types of controllers is completed on Simulink platform.After the control scheme is given,the parameter tuning methods of different control models are proposed respectively.After the design of the control object and control scheme is completed,different kind of trajectory planning methods are designed and simulated,and the expansion mode from 2d trajectory planning to 3d trajectory planning is discussed.Additionally,a series of simulations on AUV trajectory tracking are carried out in this paper.PID,ADRC and modified ADRC are used to simulate the target AUV under various conditions such as single-degree-of-freedom movement or multi-degree-of-freedom movement.In addition,the external interference is also taken into consideration as a factor.The simulation results show that the modified ADRC has higher working accuracy and better robustness and stability than the traditional control methods.