The navigation environment of unmanned underwater vehicle is becoming increasingly complex, thus the growing demand for complex tasks can't be meet by traditional PID controller and PI controller. Therefore ADRC algorithm is used to design the heading controller of unmanned underwater vehicle to replace the old PID controller and PI controller. The simulation result that the unmanned underwater vehicle using ADRC controller has significant advantages in speed, robustness, disturbance rejection and steering have been shown when the simulink in MATLAB have been used to compare ADRC controller with traditional controller. After comparing them, the ADRC controller can meet severe demands of unmanned underwater vehicle at present.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research and Simulation of ADRC Based on the Heading of Unmanned Underwater Vehicle


    Contributors:
    Zhang, Yao (author) / Xiong, Hejin (author)


    Publication date :

    2015-12-01


    Size :

    207584 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Design of ADRC for Unmanned Surface Vehicle Heading Based on Immune Particle Swarm Optimization

    Fu, Mingyu / Wang, Qiusu / Wang, Yuchao et al. | British Library Conference Proceedings | 2021


    Heading Control of Air Cushion Vehicles Based on Adaptive Fuzzy ADRC

    Liu, Z. / Liu, W. / Fu, M. et al. | British Library Online Contents | 2011



    ADRC Control of an Unmanned Under-Actuated Aerial Vehicle

    Mouchrif, Ismail / Lachkar, Ibtissam / Abdelmajid, Abouloifa et al. | Springer Verlag | 2024


    Backstepping ADRC of Unmanned Aerial Vehicle Systems with Output Constraints

    Zhou, Ning / Wang, Tao / Niu, Mengran et al. | Springer Verlag | 2025