Abstract: To improve the depth control quality of Under-actuated unmanned underwater vehicle (UUV) in the complex environment, linear active rejection disturbance control (LADRC) technology is applied to the depth control of Under-actuated UUV. First, linear extended state observer (LESO) is used to estimate the system of unknown "combined interference", and carry on dynamic feedback compensation, to simplify the system to the standard model. Then, based on the standard model the controller is designed. Finally, the controller is modified, by introducing a saturation limiter and dead zone. Comparing with the cascade feedback controller, linear ADRC has better dynamic and static characteristics and robustness in the situation of constant interference and first-order high frequency wave force interference and low frequency sinusoidal interference. Compared with the traditional nonlinear active rejection disturbance controller (NADRC), the LADRC has the advantages of less parameters and easy engineering realization under the premise of ensuring the control performance.

Key words: Linear active rejection disturbance control, under-actuated unmanned underwater vehicle, depth control

摘要： 为了改善欠驱动Unmanned Underwater Vehicle（UUV）在复杂环境下的深度控制品质，将线性自抗扰控制技术应用到其深度控制中。首先，利用线性扩张状态观测器估计出系统的未知 “总合干扰”，并进行动态反馈补偿，将系统简化为标称模型；然后，在标称模型基础上设计控制器；最后，通过引入饱和限幅环节和死区环节对控制器进行修正。对比级联反馈控制器，线性自抗扰控制器在常值干扰、一阶高频波浪力干扰、低频正弦干扰下，有更好的动静态特性和鲁棒性。与传统的非线性自抗扰控制器相比，线性自抗扰控制器在保证控制性能的前提下，具有可调参数少、易于工程实现的优点。

关键词: 线性自抗扰, 欠驱动UUV, 深度控制