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Open AccessArticle

Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle

State Key Laboratory of Ocean Engineering, Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China
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Appl. Sci. 2018, 8(12), 2459; https://doi.org/10.3390/app8122459
Received: 30 October 2018 / Revised: 22 November 2018 / Accepted: 24 November 2018 / Published: 2 December 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
This paper proposes a Negative-buoyancy Quad Tilt-rotor Autonomous Underwater Vehicle (NQTAUV), for which an attitude-tracking controller is designed for the hover and transition modes based on a disturbance-rejection control scheme. First, the structure of NQTAUV is illustrated, a mathematical model based on the Rodrigues parameters is proposed, and the attitude-tracking error model is derived. To simplify the disturbance-observer design procedure, a disturbance observer with a single parameter was designed to estimate the disturbance torque acting on the vehicle. The controller was designed to track the target attitude, and the stability of the whole system is analyzed. Finally, the performance of the proposed method was validated by three experiments. The primary benefit of the proposed method is the simplicity of its tuning and implementation. View Full-Text
Keywords: disturbance-rejection control; extended state observer (ESO); hover mode; transition mode; negative buoyancy; quad-tilt rotor; autonomous underwater vehicle (AUV); Rodrigues parameters disturbance-rejection control; extended state observer (ESO); hover mode; transition mode; negative buoyancy; quad-tilt rotor; autonomous underwater vehicle (AUV); Rodrigues parameters
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Wang, T.; Wang, J.; Wu, C.; Zhao, M.; Ge, T. Disturbance-Rejection Control for the Hover and Transition Modes of a Negative-Buoyancy Quad Tilt-Rotor Autonomous Underwater Vehicle. Appl. Sci. 2018, 8, 2459.

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