Design of AUV depth controller based on L1 adaptive theory

Table 1. The nominal parameters values of the REMUS AUV
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Table 1. The nominal parameters values of the REMUS AUV
参数数值
Mθ/(kg·m2·s−2) −5.77
Mq/(kg·m2·s−2) −6.87
${M_{\dot q}}/({\rm{kg}}\cdot{\rm{m}}^2) $ −4.88
Mu/(kg·m2·s−2) −34.65
Iy/(kg·m2) 3.45

Table 2. Performance indexes of the two controllers without disturbance

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Table 2. Performance indexes of the two controllers without disturbance

输入类型	响应指标	PID控制器	L1自适应控制器
阶跃信号	上升时间/s	2.85	1.90
	调节时间/s	4.87	3.76
	最大纵倾角/rad	0.386	0.416
	最大纵摇角速度/(rad·s⁻¹)	1.69	0.62
正弦信号	峰值偏差/m	0.07	0.03
	峰值偏差百分比/%	7	3
	最大纵摇角/rad	0.190	0.200
	最大纵摇角速度/(rad·s⁻¹)	0.163	0.130

Table 3. Performance indexes of the two controllers with disturbance
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Table 3. Performance indexes of the two controllers with disturbance
输入类型响应指标 PID控制器 L1自适应控制器
阶跃信号平均差值/m 0.008 0.000 5
方差值/m² 0.012 7 0.000 16
正弦信号最大峰值偏差/m 0.115 0.029
最大峰值偏差百分比/% 11.5 2.9

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Jianghang HUO, Xiangyuan JIANG, Yizhong LUAN, Xiaojing MA. Design of AUV depth controller based on L1 adaptive theory[J]. Chinese Journal of Ship Research, 2021, 16(5): 150

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