Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

<div>Simulation of roll with PID when <svg height="11.5604pt" id="M270" style="vertical-align:-3.11039pt" version="1.1" viewbox="0 -8.45001 44.5309 11.5604" width="44.5309pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M870 650H600L593 618C681 609 684 605 669 516L641 367H261L286 516C302 603 313 610 391 618L398 650H132L123 618C214 610 218 606 200 516L127 130C113 46 107 40 25 32L18 0H290L298 32C204 40 200 42 214 130L250 321H631L596 131C580 47 573 39 484 32L475 0H753L762 32C673 39 668 46 685 130L757 516C772 606 778 610 861 618L870 650Z" id="g50-73"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="882" vert-adv-y="882"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,10.166,3.001)"><path d="M357 391C357 416 325 451 270 451C241 451 179 431 146 400C109 365 97 334 97 307C97 248 143 213 196 180C250 146 261 123 261 101C261 75 237 40 190 40C153 40 110 72 86 109C81 116 68 119 55 112C37 102 24 87 24 66C24 30 85 -12 137 -12C229 -12 331 62 331 140C331 189 304 218 236 260C197 284 164 309 164 346C164 381 194 400 220 400C259 400 282 380 304 350C310 342 321 339 330 344C347 353 357 372 357 391Z" id="g50-116"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="381" vert-adv-y="381"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.82,0)"><path d="M556 331V384H55V331H556ZM556 140V193H55V140H556Z" id="g54-34"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,29.438,0)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,35.769,0)"><path d="M117 -12C153 -12 178 12 178 50C178 84 153 110 118 110C84 110 59 84 59 50C59 12 84 -12 117 -12Z" id="g50-47"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="237" vert-adv-y="237"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,38.85,0)"><path d="M158 548H390L417 615L410 623H122L83 318C105 326 143 337 185 337C296 337 350 275 350 188C350 116 308 42 225 42C164 42 122 74 100 93C90 101 82 99 72 92C60 82 51 68 50 59C48 46 52 38 66 24C82 9 125 -12 172 -12C225 -11 292 15 346 59C408 108 437 166 437 226C437 309 371 397 242 397C214 397 170 382 133 369L158 548Z" id="g50-54"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> m and <svg height="12.8802pt" id="M271" style="vertical-align:-3.340981pt" version="1.1" viewbox="0 -9.53922 37.766 12.8802" width="37.766pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M493 373C493 420 472 451 445 451C421 451 400 435 400 410C400 404 402 400 406 394S417 371 417 350C417 259 317 128 256 55H254C260 126 256 262 238 340C219 424 194 451 163 451C128 451 78 413 24 329L52 302C89 353 106 370 121 370C129 370 137 363 147 336C186 231 196 73 184 -16C152 -88 120 -192 112 -238L130 -257C157 -253 213 -227 231 -213C231 -187 234 -77 240 -23C251 -6 277 30 309 69C424 208 493 299 493 373Z" id="g50-225"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="517" vert-adv-y="517"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,10.4,0)"><path d="M556 331V384H55V331H556ZM556 140V193H55V140H556Z" id="g54-34"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,22.018,0)"><path d="M247 635C116 635 39 518 39 421C39 315 113 237 221 237C239 237 258 241 281 253L349 289C315 140 204 42 60 19L66 -15C90 -15 153 -5 207 16C344 70 447 199 447 385C447 521 373 635 247 635ZM231 598C329 598 356 478 356 390C356 371 355 347 352 325C330 309 297 297 262 297C179 297 127 369 127 456C127 515 156 598 231 598Z" id="g50-58"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,28.35,0)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,34.681,-5.872)"><path d="M339 262C339 340 273 403 193 403S48 340 48 262S113 121 193 121S339 184 339 262ZM283 262C283 210 242 168 193 168S104 210 104 262S144 356 193 356S283 314 283 262Z" id="g54-73"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="385" vert-adv-y="385"></glyph.data></g></svg>.</div>

Discrete Dynamics in Nature and Society

fig15

Figure 15

Figure 15: Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance 