Antidisturbance control for autonomous underwater glider with multiple disturbances

Abstract

As a new type of underwater unmanned observation platform, autonomous underwater gliders (AUGs) play an important role in ocean exploration and marine environment monitoring. However, because of the dynamic and unpredictable marine environment, AUGs are often subjected to multiple disturbances, such as ocean currents, turbulence, and waves, which pose a substantial challenge to their precise attitude control. Therefore, research on a multisource disturbance rejection control algorithm for AUGs is crucial to improve their control accuracy. In this paper, first, based on the dynamic principle, a lightweight motion model of an AUG is established. Second, utilizing a multisource disturbance rejection control algorithm, a control scheme based on disturbance observer-based control (DOBC) and the

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control law and a hybrid controller combining DOBC and the proportional-integral-derivative (PID) control algorithm are designed for the pitch angle control of AUG. The controllers are used to track the target attitude of the AUG, and the stability of the whole system is analyzed. Finally, the performance of the proposed algorithms is tested through simulation experiments, and their effectiveness and disturbance rejection performance are verified through comparison with the PID controller under the impact of various disturbances.

Keywords

Autonomous underwater glider / Attitude control / Lightweight modeling / Antidisturbance control / Disturbance observer-based control /

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Funding

National Natural Science Foundation of China(62171420)

Shandong Provincial Natural Science Foundation(ZR2020QF058)

RIGHTS & PERMISSIONS

The Author(s)