Research on Attitude Control of Underwater Unmanned Autonomous Vehicle Recovery Platform Based on Active Disturbance Rejection Sliding Mode Control

In response to the issues of susceptibility to disturbances and slow response speed in attitude adjustment during the recovery process of underwater unmanned submersibles, this paper proposes an attitude control method based on anti-disturbance sliding mode control. Firstly, the kinematic and dynamic mathematical models of the underwater recovery platform are established. Secondly, by integrating sliding mode control with anti-disturbance control, a new type of anti-disturbance sliding mode controller is developed. This controller can monitor and compensate for both internal and external disturbances (For example, ocean currents) of the system and relies on sliding mode control to ensure rapid and stable attitude adjustments. Finally, simulations are performed in the Matlab/Simulink environment and compared with traditional sliding mode control and PID control. The results demonstrate that the underwater unmanned submersible recovery platform control system based on anti-disturbance sliding mode control proposed in this paper exhibits high precision and meets the requirements for rapid attitude adjustment. The control method presented in this paper can provide valuable reference for attitude control of underwater recovery platforms.