Auto Disturbance Rejection Control System of Diving for an Underactuated AUV

The diving control problem of an under actuated autonomous underwater vehicle (AUV) was addressed in this paper. In order to deal with the uncertainties and nonlinear dynamics, an auto-disturbance-rejection controller(ADRC) was introduced to guarantee the robustness and stability during diving. The simulation results demonstrated that this proposed controller was effective to eliminate the disturbances caused by vehicle's nonlinear and model uncertainty. Further more, the feasibility and practicability of the proposed method is verified by an experiment for the diving control in Lake.