Active disturbance rejection control of underwater high-speed vehicle

Based on the feature of model disturbances and uncertainty being compensated dynamically in active disturbance rejection control (ADRC), a new method using ADRC is proposed for the decoupling control of underwater high-speed vehicle longitudinal movement and decoupling control is realized by applying ADRC. Simulation results show that the high dynamic performance and robustness performance can be achieved by proposed method.