Autonomous underwater vehicle vertical plane under-actuated motion control method
A technology of motion control and vertical plane, applied in the direction of three-dimensional position/channel control, etc., to achieve the effect of suppressing external environment interference, suppressing sensor noise interference, and overcoming nonlinearity
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[0036] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0037] combined with Figure 5 , attached Figure 6, the specific implementation steps of the ADRC method based on the adaptive neuro-fuzzy reasoning system in the underactuated motion control of the AUV vertical plane can be expressed as:
[0038] 1. Initialize the AUV and complete the initialization of the position and attitude of the AUV;
[0039] 2. The top-level control computer sends missions and completes the overall plan;
[0040] 3. The motion control computer receives the sensor feedback information, and uses the ADRC based on the adaptive neuro-fuzzy reasoning system to perform control calculation;
[0041] 4. From the desired AUV depth ζ 0 (t) and trim θ 0 (t) As the input signal of the tracking differentiator, the information of depth ζ(t) and pitch θ(t) obtained by each sensor is used as the input signal of the extended state observer, and the o...
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