Unmanned Underwater Vehicle Depth ADRC Based on Genetic Algorithm Near Surface

A kind of auto disturbance rejection controller(ADRC) based on genetic algorithm for keeping UUV depth was designed according to the characteristics of UUV maneuvering.Because of more parameters of ADRC,its parameter design was transformed to parameter optimization.The controller parameter of ADRC in a UUV depth control system was optimized by using the genetic algorithm.The depth control of UUV was simulated without disturbing and near the surface.The simulation results show that the ADRC controller has better depth keeping and anti-jamming performances.Compared with the conventional PID controller,the amplitude and the frequency of steering controlled by ADRC controller are reduced much more obviously.The control quality of ADRC is significantly improved.