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Updated: Jan 15, 2026

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Position and Attitude Control of Multi-Modal Underwater Robots Using an Improved LADRC Based on Sliding Mode Control.

Luze Wang1, Yu Lu2, Lei Zhang1

  • 1The College of Engineering, Ocean University of China, Qingdao 266100, China.

Sensors (Basel, Switzerland)
|October 16, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a novel control scheme for multi-modal underwater robots, enhancing deep-sea mining operations. The sliding mode-active disturbance rejection control (SM-ADRC) effectively manages uncertainty and disturbances while reducing overshoot and chatter.

Keywords:
LADRCSM-ADRCdepth controlheading controlmulti-modal underwater robotssliding mode control

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Area of Science:

  • Robotics
  • Control Systems
  • Ocean Engineering

Background:

  • Deep-sea mining requires robust underwater robots capable of operating in uncertain environments.
  • Traditional control methods struggle with model uncertainties and external disturbances common in deep-sea operations.

Purpose of the Study:

  • To develop an advanced control strategy for multi-modal underwater robots used in deep-sea mining.
  • To address challenges like model uncertainty, external disturbances, overshoot, and chattering in robot control.

Main Methods:

  • Proposed an improved sliding mode-active disturbance rejection control (SM-ADRC) scheme.
  • Introduced a piecewise fhan function in the tracking differentiator (TD) to reduce overshoot.
  • Enhanced sliding mode control (SMC) with an integral sliding surface for accuracy and a saturation function to mitigate chattering.
  • Integrated linear extended state observer (LESO) estimates for feedforward compensation.

Main Results:

  • The SM-ADRC scheme demonstrated significant improvements in dynamic response.
  • Enhanced disturbance suppression capabilities were observed.
  • Effective suppression of high-frequency chattering inherent in sliding mode control was achieved.
  • Simulation experiments verified the effectiveness of the proposed control strategy.

Conclusions:

  • The developed SM-ADRC offers a superior control solution for multi-modal underwater robots in demanding deep-sea environments.
  • This advanced control method enhances operational reliability and efficiency for deep-sea mining tasks.
  • The study successfully mitigated key control challenges, paving the way for more effective underwater robotic applications.