ADRC-based AUV cascade feedback control method, system, device and medium

The invention relates to the field of automatic control, in particular to an ADRC-based AUV cascade feedback control method, system and device and a medium, and the method comprises the following steps: establishing a cascade feedback controller with a pitch angle speed ring, a pitch angle ring and a depth ring; an ADRC (auto-disturbance rejection module) is combined in the pitch angular velocity ring, so that disturbance and parameter perturbation of the AUV in the navigation process are extracted by using a linear state observer in the ADRC; the perturbation and parametric perturbation are estimated and compensated to convert the cascade feedback controller into a standard form. According to the method, a traditional cascade feedback motion control method of the AUV is combined with the ADRC, disturbance and parameter perturbation borne by the AUV in the navigation process are extracted through a linear state observer in the ADRC to serve as total disturbance to be estimated, compensation is conducted in ti