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

Area of Science:

• Robotics
• Control Systems Engineering
• Ocean Engineering

Background:

• Autonomous Underwater Vehicles (AUVs) are crucial for marine industries but suffer from control instability due to significant environmental interference.
• Severe coupling in the attitude control systems of six-degrees-of-freedom AUVs complicates precise maneuverability.

Purpose of the Study:

• To develop a robust control algorithm that enhances the stability and anti-interference capabilities of AUVs.
• To address the challenges of manual parameter tuning in Active Disturbance Rejection Control (ADRC) for AUVs.

Main Methods:

• A single control volume-single attitude angle model was constructed to address attitude control coupling in AUVs.
• A Particle Swarm Optimization-based Active Disturbance Rejection Control (PSO-ADRC) algorithm was proposed for automatic parameter tuning.
• Experimental validation was conducted to assess the performance of the proposed method.

Main Results:

• The proposed decoupling control algorithm and PSO-ADRC significantly improved the control stability of AUVs.
• The PSO-ADRC method demonstrated enhanced anti-interference ability and control accuracy in dynamic underwater environments.
• Experimental results confirmed the effectiveness of the developed approach in real-world conditions.

Conclusions:

• The developed PSO-ADRC algorithm offers an effective solution for improving AUV control performance by automating parameter tuning.
• This research contributes to more reliable and accurate AUV operations in complex marine settings.
• The findings pave the way for enhanced autonomy and efficiency in underwater applications.