【摘要】 针对水下无人潜航器在执行任务期间，面临的瞬态性能和鲁棒性不足的问题，选择自抗扰控制的方法对其进行姿态控制，利用galn函数代替fal函数，解决了fal函数在原点处不连续导致的系统高频抖振现象，实现抗扰能力的提升，并且采用IGWO寻优算法对ADRC的参数进行整定。在MATLAB/simulink仿真以及水下实验中，证明改进后的自抗扰控制器拥有更加快速，更加稳定的跟踪过程，验证了此控制策略很好的提升了AUV的控制性能。更多还原

【Abstract】 Aiming at the problem of insufficient transient performance and robustness faced by underwater unmanned underwater vehicles during the mission, the attitude control method of automatic disturbance rejection control is selected, and the galn function is used instead of the fal function to solve the high-frequency jitter phenomenon of the system caused by the discontinuity of the fal function at the origin, so as to improve the anti-disturbance ability, and the IGWO optimization algorithm is used to tune the parameters of ADRC.In MATLAB/simulink simulation and underwater experiments, it is proved that the improved automatic disturbance rejection controller has a faster and more stable tracking process, which verifies that this control strategy can improve the control performance of AUV.更多还原