Formation control design of Multiple Underwater Vehicles based on LADRC

Aiming at the problem of small ocean detection range and low efficiency, this paper applied the cooperative formation mode of multiple autonomous underwater vehicles to study the control effect of traditional PID control and linear active disturbance rejection controller (LADRC) on the formation control problem. Simulation results show that under a certain external disturbance, the PID controller and the LADRC can achieve good control for multiple autonomous underwater vehicles formation, but LADRC algorithm in terms of the performance of disturbance resistance and the quickness of the response of the system is superior to the classical PID control. It can estimate and compensate the total disturbance of the system, so as to improve the anti-interference ability and robustness of the system.