Horizontal plane motion control of AUV based on active disturbance rejection controller

摘要

Autonomous underwater vehicle (AUV) is a nonlinear system with characteristics of strong coupling, parameter perturbations, non-modeling disturbance, and vulnerable to the external environment (waves, currents, etc.) disturbance, etc. In this paper, studies the method based on active disturbance rejection control (ADRC) to meet the AUV underwater autonomous navigation and high precision control performance index. ADRC has strong ability of anti-interference, it can attribute system's internal and external disturbance to the system's total disturbance, implementation of the system's real-time estimation and effective compensation. The result of simulation shows that the AUV ADRC horizontal movement system designed in this paper, can effectively resist the influence of external environment disturbing force such as currents, effectively improve the anti-interference performance of the system. Compared with the classical PID control, this method can better meet the requirements of system for high precision control performance index.