The design of active disturbance rejection control law of underwater high-speed vehicle longitudinal channel

Aiming at nonlinearity of underwater high-speed vehicle model and the existence of external disturbance, the paper proposes a new way of using active disturbance rejection controller to design vehicle control system. Through making research on nonlinear model of vehicle, extended state observer is applied for observing system nonlinearity, coupling terms and external disturbances, and are compensated in feedback, by which dynamic feedback linearization and decoupling control are realized. Then, a nonlinear feedback controller is designed. The simulation studies indicate the system has favorable dynamic performance and the controller has strong robustness.