Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection
, Hailin Liu 1, Jian Yuan 1, Yue Shen 2, Hao Zhang 1, Haoxiang Wang 3 and Yi Zheng 1,*Round 1
Reviewer 1 Report
Overall, the paper is well written and organized with a proper length. The topic of the paper is within the scope of the journal and this paper is quite interesting. However, a MAJOR REVISION is needed to rewrite the paper to reflect the contribution properly. Some observations are given below. These may help to revise the paper.
1/ Despite the motivating topic, the contribution and novelty of this paper were not enough since it seems all the methods are existing; the mathematical modeling of an AUV system cannot be considered as a contribution because many researchers have been studied it nowadays. Also, the fractional-order PID control used in the controller was quite simple.
2/ In the introduction part, the authors could enrich the reference section by discussing some newly adaptive robust control methods. The concept of sliding mode control should be discussed in terms of a deeper state of the art, some new works related to sliding mode control of marine vehicles or second-order systems, especially the dynamic sliding mode control methods, robust sliding mode method, multiple sliding mode methods, and so on, should be included. To help the authors in this direction, I suggest the following reference: https://doi.org/10.3390/s21030747, DOI: 10.1109/ACCESS.2021.3098327,
DOI: 10.1109/ACCESS.2020.3048706, https://doi.org/10.3390/math8081371, https://doi.org/10.3390/math9161935. And the introduction should be added to do a better job of explaining the existing methods and why they are or are not valuable.
3/ In section 2, a sub-section “Assumptions” should be added to make the problem clearer. All assumptions and physical constraints should be provided. How many degrees of freedom DOF is applied in the AUV system? Did authors consider the disturbance forces acting on the vehicle such as model uncertainties and ocean current? The author can refer to the “Assumptions” section of the following paper: https://doi.org/10.3390/s20051329
4/ The most important thing in Equation 8 is how to define all forces X, Y, Z, K, M, N. The authors should describe in more detail.
5/ All notations in Equations 1-8 should be explained in the paper. The paper uses a lot of abbreviations, symbols, and notations. Maybe a nomenclature section will help in enhancing the overall readability of the paper
6/ The parameters for simulation such as hydrodynamic coefficients of the system, the control parameters, and the disturbance forces need to be added in the paper.
7/ Figures 5 and 13 did not mention in the text of the paper. Please check.
8/ Simulation and experiment analysis are insufficient, more results need to be added in the paper:
+ Some simulation results of positions of AUV (x, y, and depth z with respect to time)
+ Results of the propeller forces and fins forces (control inputs) should be mentioned.
+ How about the pitch angle in the experiment results.
Also, the explanations and analysis of simulation results should be enriched to show the validity of the data.
9/ The conclusion, in my opinion, in the current manuscript looks more like an abstract. It does not discuss the findings and future work. My suggestion is to work on it from scratch to better highlight the results and possible extensions and improvements.
10/ Some typos and grammatical errors should be checked carefully, and some formatting problems need to be modified.
Author Response
Dear Reviewer,
On behalf of my co-authors, we thank you very much for giving us an opportunity to revise our manuscript, we appreciate editor and reviewers very much for their positive and constructive comments and suggestions on our manuscript entitled “Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection”. (ID: jmse-1438211).
We have studied reviewer’s comments carefully and have made revision which marked in red in the paper. We have tried our best to revise our manuscript according to the comments. Attached please find the revised version, which we would like to submit for your kind consideration.
We would like to express our great appreciation to you and reviewers for comments on our paper. Looking forward to hearing from you.
Thank you and best regards.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
This paper proposed a fractional calculus ADRC strategy for AUV motion control. The performance of the new control strategy is superior and has been proven through simulations and experiments. The research is interesting and solid. In order to improve the quality of the paper, I suggest the authors provide some more information in the experiment part:
- What control parameters have been designed for the experiment?
- Please describe the actuators that control heading and pitching. What are their saturate values?
- Please provide control actions generated by actuators in the experiments.
- Since fractional-order integrator and derivative are not easy to deploy in control hardware, please describe the way to deploy the proposed controller, what hardware has been used?
Author Response
Dear Reviewer,
On behalf of my co-authors, we thank you very much for giving us an opportunity to revise our manuscript, we appreciate editor and reviewers very much for their positive and constructive comments and suggestions on our manuscript entitled “Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection”. (ID: jmse-1438211).
We have studied reviewer’s comments carefully and have made revision which marked in red in the paper. We have tried our best to revise our manuscript according to the comments. Attached please find the revised version, which we would like to submit for your kind consideration.
We would like to express our great appreciation to you and reviewers for comments on our paper. Looking forward to hearing from you.
Thank you and best regards.
Author Response File: Author Response.pdf
Reviewer 3 Report
Motion Control of Autonomous Underwater vehicle Based on Fractional Calculus Active Disturbance Rejection
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The paper is well written and provides both numerical and experimental results.
Some references need to be added:
Singh, Y., Bhattacharyya, S.K. and Idichandy, V.G., 2017. CFD approach to modelling, hydrodynamic analysis and motion characteristics of a laboratory underwater glider with experimental results.
Journal of Ocean Engineering and Science, 2(2), pp.90-119.
Provide an appendix showing calculations of added mass for the AUV equations of motion.
Provide a table showing experimental and simulation results side by side for the same inputs and show the error between them. Provide reasons in discussion for such discrepancy.
Provide simulation results for a few instances on different underwater current profiles and their subsequent impact on the motion characteristics.
Author Response
Dear Reviewer,
On behalf of my co-authors, we thank you very much for giving us an opportunity to revise our manuscript, we appreciate editor and reviewers very much for their positive and constructive comments and suggestions on our manuscript entitled “Motion Control of Autonomous Underwater Vehicle Based on Fractional Calculus Active Disturbance Rejection”. (ID: jmse-1438211).
We have studied reviewer’s comments carefully and have made revision which marked in red in the paper. We have tried our best to revise our manuscript according to the comments. Attached please find the revised version, which we would like to submit for your kind consideration.
We would like to express our great appreciation to you and reviewers for comments on our paper. Looking forward to hearing from you.
Thank you and best regards.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
Thank you for the revised manuscript. This paper version now is better than before. Therefore I believe that the paper is now ready for publication. However, a minor issue is needed to improve:
In ref [3], the author´s name is not really correct. Please re-arrange as below:
M.T. Vu, H.L.N.N. Thanh, T.T. Huynh, Q.T. Do, T.D. Do, Q.D. Hoang, T.H. Le, “Station-Keeping Control of a Hovering Over-Actuated Autonomous Underwater Vehicle Under Ocean Current Effects and Model Uncertainties in Horizontal Plane”. IEEE Access 2021, Volume 9, pp. 6855-6867. DOI: 10.1109/ACCESS.2020.3048706
In addition, the format of references needs to be unified with the aim to satisfy the requirement of the journal, and the DOI number of some new references needs to be added in this paper. Please check carefully.
Reviewer 2 Report
All the revision requests have been well revised. The paper has been much improved.
