Fractional Active Disturbance Rejection Positioning and Docking Control of Remotely Operated Vehicles: Analysis and Experimental Validation
Weidong Liu,
Liwei Guo,
Le Li
et al.
Abstract:In this paper, a fractional active disturbance rejection control (FADRC) scheme is proposed for remotely operated vehicles (ROVs) to enhance high-precision positioning and docking control in the presence of ocean current disturbances and model uncertainties. The scheme comprises a double closed-loop fractional-order PIλDμ controller (DFOPID) and a model-assisted finite-time sliding-mode extended state observer (MFSESO). Among them, DFOPID effectively compensates for non-matching disturbances, while its fractio… Show more
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