Sign in to use this feature.

Years

Between: -

Subjects

remove_circle_outline
remove_circle_outline

Journals

Article Types

Countries / Regions

Search Results (1)

Search Parameters:
Keywords = model-assisted finite-time sliding-mode extended state observer (MFSESO)

Order results
Result details
Results per page
Select all
Export citation of selected articles as:
22 pages, 28940 KB  
Article
Fractional Active Disturbance Rejection Positioning and Docking Control of Remotely Operated Vehicles: Analysis and Experimental Validation
by Weidong Liu, Liwei Guo, Le Li, Jingming Xu and Guanghao Yang
Fractal Fract. 2024, 8(6), 354; https://doi.org/10.3390/fractalfract8060354 - 14 Jun 2024
Cited by 2 | Viewed by 1180
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 [...] Read more.
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 fractional-order term enhances the dynamic performance and steady-state accuracy of the system. MFSESO contributes to enhancing the estimation accuracy through the integration of sliding-mode technology and model information, ensuring the finite-time convergence of observation errors. Numerical simulations and pool experiments have shown that the proposed control scheme can effectively resist disturbances and successfully complete high-precision tasks in the absence of an accurate model. This underscores the independence of this control scheme on accurate model data of an operational ROV. Meanwhile, it also has the advantages of a simple structure and easy parameter tuning. The FADRC scheme presented in this paper holds practical significance and can serve as a valuable reference for applications involving ROVs. Full article
(This article belongs to the Special Issue Applications of Fractional-Order Calculus in Robotics)
Show Figures

Figure 1

Back to TopTop