The AUV heading control system based on auto disturbance rejection control principle

摘要

To deal with the disturbance of current and pulse moment in the heading control of Autonomous Underwater Vehicle(AUV), the paper presents an auto-disturbance-rejection controller for the heading control system of AUV. By selecting an operating point for the derived nonlinear model of AUV in horizontal plane, a linear heading control model of AUV is obtained by linearizing the model at the operating point. An auto-disturbance-rejection heading controller is designed based on auto-disturbance-rejection control theory. The computer simulation is demonstrated that the designed controller is effective to eliminate the current disturbance and yaw impulse moment. Further more, the experiment for the heading control in Lake shows the feasibility and practicability of the proposed method.