Active Disturbance Rejection Control of Underwater Vehicle with Omnidirectional Control

This paper focuses on the omnidirectional drive characteristics and autonomous control of the underwater saucer glider under the condition of underactuated and multiconstraints. Firstly, the dynamic model of the underwater saucer glider is established, and the underactuated control characteristics and the plane biaxial symmetry structure characteristics of the underwater saucer glider are analyzed. An omnidirectional drive mechanism with four water jet thrusters is designed, and the omnidirectional control power output equation is given. Secondly, a nonlinear active disturbance rejection controller is designed, and a visual simulation platform of UUVs based on MATLAB + MFC is established. Through a large number of numerical tests, the reliability and effectiveness of the control strategy are verified, and the smooth operation of the underwater saucer glider in the dynamic process of three-dimensional space is realized.