Path Tracking Control of Underwater Vehicle based on Active Disturbance Rejection Control

In order to solve the problem that the underwater vehicle (AUV) is easy to be disturbed by the external environment and the uncertainty of the vehicle when it carries out the underwater path tracking task, through analyzing and establishing the kinematics and dynamics model of the underwater vehicle, the second-order ADRC tracker is established based on the active disturbance rejection control technology, and the horizontal path tracking simulation experiment is carried out. The AUV path tracking controller based on control technology can realize the reference path tracking task, and has fast tracking speed, strong anti-interference ability and good control effect.