机电工程技术2026，Vol.55Issue(14)：50-54,85,6.DOI:10.3969/j.issn.1009-9492.2026.14.008
基于自抗扰控制的自主水下航行器运动控制
Motion Control of Autonomous Underwater Vehicles Based on Active Disturbance Rejection Control
摘要
Abstract
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.关键词
自主水下航行器/自抗扰控制/扩张状态观测器/鲁棒性/运动控制/路径跟踪Key words
autonomous underwater vehicle/self-adaptive control/extended state observer/robustness/motion control/path tracking分类
信息技术与安全科学引用本文复制引用
文永鹏,晁克明,李晏成,董昌谨,吴宝举,余桐..基于自抗扰控制的自主水下航行器运动控制[J].机电工程技术,2026,55(14):50-54,85,6.基金项目
国家重点研发计划项目(2021YFC2801102) （2021YFC2801102）
