Research on Active Disturbance Rejection Control of Underwater Manipulator Based on Terminal Sliding Mode

In order to solve the influence of external disturbance of ocean current and uncertainty of system parameters on the control stability and tracking accuracy of underwater manipulator, an ADRC (Active Disturbance Rejection Control) control method based on terminal sliding mode is proposed. This method is insensitive to hydrodynamic parameter change and flow disturbance, and has strong robustness. It uses saturation function instead of sign function to make control signal more stable and control output more gentle. The reliability, stability and robustness of the proposed control method are verified by simulating the actual underwater situation and simulating the controller under different conditions, such as current environment and external disturbance environment.