Application of linear active disturbance rejection decoupling control for AUV three-dimensional trajectory tracking control

To investigate the three-dimensional (3D) trajectory tracking control problem for autonomous underwater vehicles (AUV), a linear active disturbance rejection decoupling control approach is proposed in this paper. Firstly, the AUV five-degree-of-freedom model is given, and the model is decoupled by the introduced active disturbance rejection decoupling technology. Secondly, An AUV trajectory tracking controller is designed, based on linear active disturbance rejection control method. The controller uses tracking differentiator to obtain the differential signal of the reference trajectory, and utilizes linear extended state observer to estimate the total disturbance of the AUV system. Then, in order to reduce the controller parameters, a linear states error feedback control law is designed to compensate for the total disturbance of the system. Finally, simulations verify the effectiveness of the designed algorithm. The simulation results show that the proposed control strategy can make the AUV track the reference trajectory quickly and stably.