Trajectory Tracking of AUV under Current Disturbance Based on Adaptive LADRC

In consideration of the trajectory tracking problem of autonomous underwater vehicle (AUV) under external current disturbance, an adaptive linear active disturbance rejection control (LADRC) method is proposed. Unlike the conditional LADRC using fixed parameters for extended state observer, the proposed controller makes use of the error of estimation and automatically adjusts the parameter online. As shown in the simulation, the adaptive LADRC estimates the external current disturbance effectively, and tracks the 3D trajectory better compared with traditional LADRC.