Research and Simulation of ADRC Based on the Heading of Unmanned Underwater Vehicle

Abstract

The navigation environment of unmanned underwater vehicle is becoming increasingly complex, thus the growing demand for complex tasks can't be meet by traditional PID controller and PI controller. Therefore ADRC algorithm is used to design the heading controller of unmanned underwater vehicle to replace the old PID controller and PI controller. The simulation result that the unmanned underwater vehicle using ADRC controller has significant advantages in speed, robustness, disturbance rejection and steering have been shown when the simulink in MATLAB have been used to compare ADRC controller with traditional controller. After comparing them, the ADRC controller can meet severe demands of unmanned underwater vehicle at present.