The total disturbance estimated by the extended state observer(ESO)in active disturbance rejection controller(ADRC)is affected greatly by measurement noise when the control step is small in heading control of underwat...The total disturbance estimated by the extended state observer(ESO)in active disturbance rejection controller(ADRC)is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles(UFVs).In order to prevent rudder from high-frequency chattering caused by measurement noise,a tracking-differentiator(TD)is integrated to the ESO to develop an improved ADRC scheme.The improved ADRC suppresses the impact of sensor noise.Both the results of simulations and tank tests show the effectiveness of improved ADRC based heading control.展开更多
文摘The total disturbance estimated by the extended state observer(ESO)in active disturbance rejection controller(ADRC)is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles(UFVs).In order to prevent rudder from high-frequency chattering caused by measurement noise,a tracking-differentiator(TD)is integrated to the ESO to develop an improved ADRC scheme.The improved ADRC suppresses the impact of sensor noise.Both the results of simulations and tank tests show the effectiveness of improved ADRC based heading control.
