Method and system for hierarchical disturbance rejection depth tracking control of underactuated underwater vehicle

US11809201B1 · kind B1 · utility

Assignee

• Huazhong University of Science and Technology · CN

Inventors

• Xianbo Xiang · Hubei, CN
• Chuan Liu · Hubei, CN
• Shaolong Yang · Hubei, CN
• Gong Xiang · Hubei, CN
• Qin Zhang · Hubei, CN

Key dates

• Filing date: May 26, 2023
• Grant date: Nov 7, 2023
• Expiry date: May 26, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B63G2008/004
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

The disclosure provides a method and system for hierarchical disturbance rejection depth tracking control of an underactuated underwater vehicle, and the depth tracking of the underactuated underwater vehicle is divided into kinematic layer guidance and dynamic layer pitch tracking. Adaptive line of sight guidance is used in the kinematic layer to convert a depth error into a desired pitch angle and to estimate and compensate an angle of attack to reject disturbance introduced by an unmeasurable true angle of attack. Based on the above, in the dynamic layer, the active disturbance rejection sliding mode pitch tracking method is used to observe a composite disturbance including an unknown dynamic model and an environmental disturbance by using the active disturbance rejection framework. The model is compensated as a unified integral series type, a sliding mode control law is finally designed to resist an observation error, and a control elevator angle is calculated.