Design of Active Disturbance Rejection Control for an Underwater Vehicle

Aiming at the characteristics of large modeling uncertainty of Underwater vehicle and large disturbance of navigation environment, the attitude stabilization controller and the depth tracking controller are designed respectively by using linear active disturbance rejection control(LADRC). The extended state observer is used to estimate the coupling of state variables and the total internal and external disturbance in the vehicle model, and the estimator is used to compensate, so as to suppress the influence of modeling error and unknown disturbance on the navigation stability. Simulation results show that the designed controller is insensitive to changes in aerodynamic parameters. Compared with the traditional PID controller method, the system using active disturbance rejection control can recover the stable state faster under interference, which proves that the linear active disturbance rejection controller has better disturbance rejection ability and significantly improves the stability of the system.