TY - GEN
T1 - Data-Driven Based Active Disturbance Rejection Control for Underwater Vehicle Manipulator System
AU - Pang, Yitao
AU - Wang, Hongdu
AU - Tian, Xin
AU - Shah, Umer Hameed
AU - Hou, Dongdong
AU - Li, Ming
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper addresses the problem of trajectory tracking control for the underwater vehicle manipulator system (UVMS) with parameter uncertainty and external disturbances. An adaptive linear active disturbance rejection control (ALADRC) scheme is proposed by combining ADRC and model-free adaptive control. Firstly, the UVMS dynamics model is discretized and converted into an equivalent dynamic linearization data model. Secondly, a parameter estimation law and an adaptive extended state observer are designed to estimate the pseudo-partial derivative matrix and the total disturbance in the data model respectively. Then, an adaptive LADRC law is designed to compensate the total disturbance to realize the trajectory tracking control. The proposed ALADRC is a typical data-driven solution, which only requires input-output data to achieve effective performance. Furthermore, the stability analysis of the designed control system is given. Finally, the effectiveness of the proposed control scheme is verified by numerical simulations.
AB - This paper addresses the problem of trajectory tracking control for the underwater vehicle manipulator system (UVMS) with parameter uncertainty and external disturbances. An adaptive linear active disturbance rejection control (ALADRC) scheme is proposed by combining ADRC and model-free adaptive control. Firstly, the UVMS dynamics model is discretized and converted into an equivalent dynamic linearization data model. Secondly, a parameter estimation law and an adaptive extended state observer are designed to estimate the pseudo-partial derivative matrix and the total disturbance in the data model respectively. Then, an adaptive LADRC law is designed to compensate the total disturbance to realize the trajectory tracking control. The proposed ALADRC is a typical data-driven solution, which only requires input-output data to achieve effective performance. Furthermore, the stability analysis of the designed control system is given. Finally, the effectiveness of the proposed control scheme is verified by numerical simulations.
KW - data-driven
KW - linear active disturbance rejection control
KW - model-free adaptive control
KW - underwater vehicle manipulator system
UR - https://www.scopus.com/pages/publications/85185218941
U2 - 10.1109/NTCI60157.2023.10403730
DO - 10.1109/NTCI60157.2023.10403730
M3 - Conference contribution
AN - SCOPUS:85185218941
T3 - Proceedings of 2023 International Conference on New Trends in Computational Intelligence, NTCI 2023
SP - 132
EP - 136
BT - Proceedings of 2023 International Conference on New Trends in Computational Intelligence, NTCI 2023
A2 - Wang, Jian
A2 - Polycarpou, Marios M.
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on New Trends in Computational Intelligence, NTCI 2023
Y2 - 3 November 2023 through 5 November 2023
ER -