Robust accurate control method for X-type rudder AUV (Autonomous Underwater Vehicle)

The invention discloses an X-rudder AUV robust accurate control method, which comprises the following steps: acquiring the position, attitude, linear velocity and angular velocity of an AUV hull, establishing a kinematics model, a dynamics model and an X distribution model, and forming an X-rudder AUV mathematical model; respectively acquiring the current position and route information of the AUV on the horizontal plane and the vertical plane, establishing a horizontal plane kinematics controller, and designing a vertical plane kinematics control law; designing a nonlinear disturbance observer to estimate and compensate the unmodeled dynamics of the X-rudder AUV mathematical model and the vertical plane kinematics control law, and generating an AUV high-order sliding mode controller; and performing X-rudder control distribution on the control output solved by the AUV high-order sliding mode controller based on the damping matrix. According to the control method, the influence of model uncertainty and external