AUV 3D Trajectory Tracking based on Linear Active Disturbance Rejection Control

Autonomous underwater vehicle (AUV) has the characteristics of nonlinear, time-varying, strong coupling and easy to be disturbed. In order to further improve the AUV trajectory tracking control effect, a five-degree-of-freedom spatial motion model was established and the linear active disturbance rejection control method was introduced into AUV trajectory tracking control. Considering the characteristics of the object studied in this paper, firstly, coordinate transformation of the standard motion equation of the underactuated AUV can obtain a simplified motion model of the object studied in this paper. Variable transformation including all degrees of freedom is introduced in this paper, so that the underwater vehicle has dynamic characteristics in all directions and includes all control inputs. Secondly, for the position control system, a linear extended state observer (LESO) is designed for the three motion channels after coordinate transformation to observe and compensate the internal uncertainties and external disturbances in real time. Finally, the trajectory tracking control based on linear active disturbance rejection control is realized by simulation, and the effectiveness of the proposed method is verified.