基于分?jǐn)?shù)階自抗擾的水下滑翔機(jī)運(yùn)動(dòng)控制研究

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中圖分類號(hào)：P715.5 文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：1671-5276（2025）03-0250-04

Research on Motion Control of Underwater Glider Based on Fractional Order Active Disturbance Rejection Control

MA Yuyin1，WANG Na1，2 ，DING Junhang3，LI Pei1 （1. School of Automation，Qingdao University，Qingdao ，China； 2. Shandong Key Laboratory of Industrial Control Technology，Qingdao 266O71，China; 3.ScholofRehabitationScienesandEngineeing，UniversityofHealthandRehabilitationSciences，Qingdao266113，China） Abstract：Regarding the seriously afected trajectoryin observing strong currents such as the Kuroshio byunderwater glider，a fractionalorderactivedisturbancerejectioncontrolerisdesignedforthetrajectorytrackingcontrolproblemofunderwaterglider intheKuroshioarea.Tispaper，takingPetrel-Iastheresearchbject，deducesandbuildsamathematicalmodelbySimulink considerig Kuroshio.Animprovedfractionalordercontrolerisdesignedanditstrackingcontrolefectissimulatedandverified. The simulationresultsshowthattheimproved fractionalorder activedisturbancerejectioncontrolercan improvethetracking accuracy of Petrel-II in motionin theKuroshio area to acertainextent.

Keywords：fractionorderactivedisturbancerejectioncontrol；extendedstateobserver;underwaterglider;Kuroshio；motioncontrol

0 引言

水下滑翔機(jī)是一種通過調(diào)整凈浮力來驅(qū)動(dòng)的無人自主水下航行器，自1989年美國海洋學(xué)家STOMMEL[1]首次提出水下滑翔機(jī)的概念以來，經(jīng)過近幾十年的發(fā)展已成為重要的水下移動(dòng)觀測(cè)平臺(tái)之一[2]。（剩余5767字）