基于分数阶自抗扰的水下滑翔机运动控制研究

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中图分类号：P715.5 文献标志码：A 文章编号：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

水下滑翔机是一种通过调整净浮力来驱动的无人自主水下航行器，自1989年美国海洋学家STOMMEL[1]首次提出水下滑翔机的概念以来，经过近几十年的发展已成为重要的水下移动观测平台之一[2]。（剩余5767字）