Vertical Plane Motion Control of UUV Near Free-surface Based on Active Disturbance Rejection Controller

Unmanned underwater vehicle (UUV) is influenced by waves and noise, especially in the vertical direction, when it navigates near free-surface. In order to meet latency operation demand of UUV near the free-surface, we discuss a motion control technology based on active disturbance rejection controller (ADRC). This technology has stronger anti-interference capability, can combine the internal and external disturbances into the general disturbance of the system, and gives real-time estimates for the corresponding disturbance compensation. To solve the control disturbance problems of vertical plane motion for UUV near free-surface in ocean environment, we design a vertical plane motion controller of UUV by using this technology, and analyze its anti-disturbance performance. Simulation results show that the designed controller can effectively restrain the interference of waves and reduce the buffeting phenomenon of stern elevator, and has good control effect and anti-disturbance performance.