公开(公告)号：US11809201B1

公开(公告)日：2023-11-07

申请号：US18324171

申请日：2023-05-26

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xianbo Xiang ,  Chuan Liu ,  Shaolong Yang ,  Gong Xiang ,  Qin Zhang

IPC: G05D1/04 ,  B63G8/24 ,  B63G8/18 ,  B63G8/00

CPC classification number: G05D1/048 ,  B63G8/24 ,  B63G8/18 ,  B63G2008/004

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.