Application of Linear Active Disturbance Rejection Control in Autonomous Underwater Vehicle Robot

摘要

Aiming at the characteristics of the Autonomous Underwater Vehicle (AUV) with strong non-linearity, strong coupling, and susceptibility to complex external disturbances, establishing a 6-degree-of-freedom dynamics and kinematics model of the AUV, and Linear Active Disturbance Rejection Control (LADRC) method was used. LADRC method has few control parameters. In the experimental results, compared with PID method, LADRC method not only improves the speed but also improves the precision of AUV motion control.