基于遗传算法的无人水下航行器深度自抗扰控制

根据无人水下航行器（UUV）操纵控制过程的特点，设计了一种基于遗传算法的UUV深度自抗扰控制器（ADRC）。针对ADRC控制器控制参数较多的问题，将其参数设计转化为一种辨识问题。借助遗传算法，对UUV深度控制系统中的ADRC控制参数进行了辨识，并对其在无外界干扰和近水面航行受波浪力干扰两种情况下的深度控制进行了仿真。数值仿真结果表明，ADRC控制可以获得较好的深度保持性能，并且具有较强的抗干扰能力。与PID控制相比，ADRC控制的操舵幅度和操舵频率有了明显降低，其控制品质有了明显提高。

Unmanned Underwater Vehicle Depth ADRC Based on Genetic Algorithm Near Surface

A kind of auto disturbance rejection controller(ADRC) based on genetic algorithm for keeping UUV depth was designed according to the characteristics of UUV maneuvering. Because of more parameters of ADRC, its parameter design was transformed to parameter optimization. The controller parameter of ADRC in a UUV depth control system was optimized by using the genetic algorithm. The depth control of UUV was simulated without disturbing and near the surface. The simulation results show that the ADRC controller has better depth keeping and anti jamming performances. Compared with the conventional PID controller, the amplitude and the frequency of steering controlled by ADRC controller are reduced much more obviously. The control quality of ADRC is significantly improved.