Fuzzy active disturbance rejection control design for autonomous underwater vehicle manipulators system. Issue 2 (14th August 2020)

• Record Type: Journal Article
• Authors: Li, XiaoGang; Wang, JiaMeng
• Other Names: Xue Wenchao guestEditor.; Xin Bin guestEditor.
• Is Part Of: Advanced control for applications. Volume 3:Issue 2(2021)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2020-08-14
• Subjects: autonomous underwater vehicle manipulator system (AUVMS) -- fuzzy active disturbance rejection controller (FADRC) -- fuzzy logic control -- liner extended state observer (LESO) -- total disturbance; Automatic control -- Periodicals; Automatic control; Periodicals; Electronic journals; 629.8
• DOI: 10.1002/adc2.44
• Languages: English
• ISSNs: 2578-0727

Abstract

Abstract: In this article, a fuzzy active disturbance rejection controller (FADRC) is proposed for autonomous underwater vehicle manipulator system (AUVMS). First, the AUVMS is separated into nine subsystems. Then, for each subsystem, dynamic uncertainties, hydrodynamic forces, unknown disturbance, and nonlinear coupling effects are lumped into a total disturbance. Next, a linear extended state observer (LESO) and linear feedback control law are designed to estimate and compensate the total disturbance. The convergence and estimation error of the LESO are analyzed here to validate its performance. Then considering the control output in real industry are always limited, a saturated proportional‐derivative (PD) controller is proposed, and close‐loop stability of the controller can be ensured. Given the fact that there are many parameters to be scheduled in practical industrial applications, an FADRC is proposed to determine the parameters of the proposed LESO and saturated PD controller. The given fuzzy rules of the parameters' change of the saturated PD controller and bandwidths of LESO can be used in other FADRCs. In order to verify the effectiveness of the proposed method, two tasks are chosen to test the performance of trajectory tracking and the capability of rejecting and attenuating the total disturbance. Simulation shows that the proposed FADRC can achieve better performance and consume less energy than classic fuzzy logic controllers and linear active disturbance rejection controllers. Abstract : This work established a new anti‐disturbance control scheme for autonomous underwater manipulator system (AUVMS), which is based on a novel thought—"generalized total disturbance" where the external disturbance and internal uncertainties. Based on this thought, the external disturbance like hydrodynamic effect and internal uncertainties like measurement error and modling error will be lumped as a "generalized total disturbance", which will be estimated by linear extended state observer (LESO), and then compesated by the estimates.