针对自主水下航行器（AUV）在大纵倾角下的纵倾与航向控制耦合问题，提出了一种基于改进型自抗扰控制器（ADRC）的解耦控制方案。首先，对处于大纵倾角下的AUV进行了耦合性分析，采用经典ADRC解耦方案建立其解耦控制系统。其次，针对经典解耦系统中AUV模型静态耦合矩阵难以估计的问题，利用改进型自抗扰控制器中的径向基神经网络模块，将系统中的耦合部分打包为总体扰动进行估计并通过非线性反馈补偿，消除了未知模型对象的静态耦合矩阵带来的影响，提升解耦效果并简化控制系统的设计。仿真实验表明，改进后的解耦系统中AUV纵倾角在耦合关系影响下的波动幅值在0.2°范围内，较原方案的解耦效果提升了4～5倍。通过控制性能测试仿真，相比于与传统ADRC、PID控制器，该控制器具有更强的动态性能与抗扰能力。
To address the coupling issue between pitch and heading control of autonomous underwater vehicles (AUV) at high pitch angles, an enhanced decoupling control strategy based on an improved active disturbance rejection controller (ADRC) is proposed. Initially, a coupling analysis was conducted for the AUV in a large trim angle condition. Subsequently, a decoupling control system is constructed using the classical ADRC decoupling approach. Given the challenges associated with estimating the static coupling matrix in the traditional decoupling system, the radial basis function neural network module within the improved ADRC is employed to encapsulate the system's coupling components into overall disturbances for estimation and compensation via nonlinear feedback. This approach mitigates the impact of the unknown static coupling matrix, thereby enhancing decoupling efficiency and simplifying the control system design. Simulation results indicate that the amplitude of AUV inclination fluctuation in the improved decoupling system remains within 0.2°, demonstrating a decoupling effect 4～5 times more effective than the original scheme. Additionally, the simulation outcomes reveal that, compared to traditional ADRC and PID controllers, the proposed controller exhibits superior dynamic performance and disturbance rejection capabilities.
2026,48(6): 109-117 收稿日期：2025-9-28
DOI：10.3404/j.issn.1672-7649.2026.06.015
分类号：U674.941
基金项目：中国科学院关键技术人才项目（E1290902）；兴辽英才计划（XLYC2403092）
作者简介：章俊强(2000-),男,硕士研究生,研究方向为水下机器人控制
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