Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC

Xiong Wu; Du Jiang; Juntong Yun; Xin Liu; Ying Sun; Bo Tao; Xiliang Tong; Manman Xu; Jianyi Kong; Ying Liu; Guojun Zhao; Zifan Fang

doi:10.3389/fbioe.2022.843020

Attitude Stabilization Control of Autonomous Underwater Vehicle Based on Decoupling Algorithm and PSO-ADRC

Front Bioeng Biotechnol. 2022 Feb 28:10:843020. doi: 10.3389/fbioe.2022.843020. eCollection 2022.

Authors

Xiong Wu^{1

2}, Du Jiang^{1

3

4}, Juntong Yun^{2

4}, Xin Liu^{1

3}, Ying Sun^{1

3

4}, Bo Tao^{1

3

4}, Xiliang Tong^{2

4}, Manman Xu^{1

2

3}, Jianyi Kong^{2

3

4}, Ying Liu^{2

4}, Guojun Zhao^{1

3}, Zifan Fang⁵

Affiliations

¹ Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China.
² Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China.
³ Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China.
⁴ Precision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan, China.
⁵ Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, China.

Abstract

Autonomous Underwater Vehicle are widely used in industries, such as marine resource exploitation and fish farming, but they are often subject to a large amount of interference which cause poor control stability, while performing their tasks. A decoupling control algorithm is proposed and A single control volume-single attitude angle model is constructed for the problem of severe coupling in the control system of attitude of six degrees of freedom Autonomous Underwater Vehicle. Aiming at the problem of complex Active Disturbance Rejection Control (ADRC) adjustment relying on manual experience, the PSO-ADRC algorithm is proposed to realize the automatic adjustment of its parameters, which improves the anti-interference ability and control accuracy of Autonomous Underwater Vehicle in dynamic environment. The anti-interference ability and control accuracy of the method were verified through experiments.

Keywords: ADRC (active disturbance rejection control); AUV (autonomous underwater vehicle); PSO (partial swarm optimization); anti-disturbance control; attitude control.