基于自抗扰控制的自主水下航行器运动控制OA

To address the issues of low control accuracy and insufficient robustness of autonomous underwater vehicles(AUVs)caused by strong nonlinearity,multivariable coupling,and complex underwater disturbances,the application of active disturbance rejection control(ADRC)in AUV motion control is studied.Based on rigid body kinematics and dynamics theory,a six-degree-of-freedom motion model of the AUV is established,and the horizontal and vertical planes are simplified and decoupled through reasonable assumptions.An ADRC controller based on an extended state observer(ESO)is designed,which enables real-time estimation and active compensation of internal disturbances(model uncertainties)and external disturbances(ocean currents and waves)through nonlinear function optimization and deviation feedback mechanisms.A simulation system is constructed on the Matlab/Simulink platform to compare and validate ADRC against PID and sliding mode control.Simulation results show that under ADRC control,the convergence time of various AUV state variables(attitude,velocity,etc.)is shortened by more than 30%compared to sliding mode control,the amplitude of steady-state oscillations is reduced by 90%compared to PID control,and high-precision tracking with no overshoot is maintained under both disturbed and undisturbed conditions.It is confirmed that ADRC can significantly enhance the AUV's dynamic response speed and disturbance rejection capability without relying on an accurate model,providing an effective solution for AUV control in complex underwater environments.