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<p>Unknown external disturbances and hydrodynamic uncertainties pose significant challenges to accurate path tracking of autonomous underwater vehicles (AUVs). To address this problem, a guidance law ensuring trajectory convergence is proposed by incorporating position error and AUV dynamics. A deviation compensation disturbance rejection (DCDR) controller is developed by introducing an independent tunable gain to decouple disturbance rejection from state observer dynamics, thereby enabling separate design and coordination of nominal control and robust enhancement. The transfer function-based DCDR implementation is derived to demonstrate a systematic parameter tuning guideline, and the closed-loop stability is established through invariant set analysis. The effectiveness of the proposed method is validated through straight and circular path tracking simulations with and without wave-induced external disturbances. By maintaining an explicit control structure, the proposed DCDR can achieve improved tracking performance and reduced control effort compared with the linear active disturbance rejection control (LADRC) and the compensation function observer-based controller (CFO-C).</p>

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Innovation-driven disturbance rejection enhancement for robust AUV path tracking

  • 期刊论文

  • 发表日期：

    2026年2月18日

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  • Wanping Song,
  • Mingwei Sun,
  • Zengqiang Chen,
  • Qinglin Sun,
  • Mikulas Huba,
  • Pavol Bistak

摘要

Unknown external disturbances and hydrodynamic uncertainties pose significant challenges to accurate path tracking of autonomous underwater vehicles (AUVs). To address this problem, a guidance law ensuring trajectory convergence is proposed by incorporating position error and AUV dynamics. A deviation compensation disturbance rejection (DCDR) controller is developed by introducing an independent tunable gain to decouple disturbance rejection from state observer dynamics, thereby enabling separate design and coordination of nominal control and robust enhancement. The transfer function-based DCDR implementation is derived to demonstrate a systematic parameter tuning guideline, and the closed-loop stability is established through invariant set analysis. The effectiveness of the proposed method is validated through straight and circular path tracking simulations with and without wave-induced external disturbances. By maintaining an explicit control structure, the proposed DCDR can achieve improved tracking performance and reduced control effort compared with the linear active disturbance rejection control (LADRC) and the compensation function observer-based controller (CFO-C).