Active Disturbance Rejection Control For AUV Pitch Angle

Autonomous Underwater Vehicle (AUV) is a nonlinear, strong coupling, big hysteresis of a multi-input multi-output system, and the aircraft also affected uncertainty by waves, wind, ocean currents and so on. Unmanned underwater vehicles Control require a very high demand. In this paper, for an unmanned underwater vehicle witch shape is approximate to a torpedo, based on the dynamic analysis of the aircraft, the mathematical model of the object is set up, and according to underwater vehicle characteristics and control requirements, the ADRC technology and traditional PID control method made the appropriate comparison to its anti-disturbance by matlab simulation. The wave simulation model is built based on spectral analysis, and simulated different degrees of wave simulation models. Introduced tracking differentiator (TD), the extended state observer (ESO), the nonlinear state error feedback controller (NLSE), and designed unmanned underwater vehicle pitch angle of ADRC, achieved the ADRC control algorithms through the use of s-function. Built AUV pitch angle ADRC simulation platform, and doing a comparison with PID control which parameter is optimized, proving the AUV pitch angle based on ADRC control system under the conditions of any outside interference have good control effect, and it also has good robustness and anti-disturbance.