In addressing the challenge of disturbances from ocean currents and waves affecting autonomous underwa-ter vehicles(AUVs),this paper introduces a model-free,adaptive depth control method based on active disturbance rejection control(ADR-MFAC).Firstly,by incorporating model-free adaptive control laws,it resolves the difficulty of establishing precise mathematical models for AUVs.Secondly,an AUV depth controller is designed,combining the active disturbance re-jection control algorithm to further enhance the controller's disturbance rejection capabilities.This involves utilizing a track-ing differentiator for input signal tracking and leveraging a linear state observer for estimating system disturbances.Finally,the control performance of ADR-MFAC is validated through simulations and sea trials.In comparison to PID control,ADR-MFAC maintains higher control precision while reducing overshoot by 51％and decreasing depth adjustment time by 21.4％.This demonstrates that ADR-MFAC can achieve stable depth control even in the presence of disturbances from ocean cur-rents,highlighting the algorithm's robustness.
autonomous underwater vehicle(AUV)active disturbance rejection control(ADRC)model-free con-troldepth control
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