Linear Active Disturbance Rejection Controller Design For Underwater Vehicle Manipulators with 2-links

摘要

In this paper, a method of liner active disturbance rejection control (LADRC) is presented for underwater vehicle manipulators system (UVMS) with 2-links. First, the UVMS is separated into five subsystems. For each subsystem, the hydrodynamic force and coupling effects from other subsystems are all lumped as total disturbance. Subsequently, a linear extended state observer (LESO) and LADRC are designed for each subsystem, where the convergence of LESO is analyzed. Then the LADRC methods is proposed for each subsystem and an overall LADRC method is proposed for UVMS. Finally, Simulation examples are demonstrated to evaluate the effectiveness of the proposed method.