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中文摘要：
针对一类具有严格反馈形式的非线性系统的控制问题,本文将动态面控制技术和自抗扰控制技术相结合,提出了动态面自抗扰控制算法.控制器包括三个功能：利用跟踪微分器给出期望信号以及其一阶导;利用扩张状态观测器估计外界扰动;扰动补偿.该控制器有效避免了传统反步法中出现的“微分爆炸”现象,并避免了控制器设计对系统数学模型的精确要求.依据李亚普洛夫稳定性理论进行控制器设计,并对扩张状态观测器和动态面部分进行了稳定性分析.通过水下无人航行器模型仿真,仿真结果表明：航迹误差在（-4,4）范围内,验证了该控制算法的有效性.
英文摘要：
Focusing on the control problem of a class of nonlinear systems with strict feedback, by combination with the dynamic surface and active disturbance rejection control method, this paper proposes an active disturbance rejection control algorithm. The controller can produce the expected signal and its derivative with a tracking differentiator （TD） and estimate the external disturbance with an extended state observer （ESO） , which can be compensa-ted by the ESO. The controller can effectively avoid the phenomenon of differential explosion, which appears in the traditional backstepping control method, and reduce the dependence on accurate mathematical models for the control system. The controller design is based on the Lyapunov stability theory, the stability of the ESO and dynamic surface control are analyzed. A simulation of an unmanned underwater vehicle （ UUV） model was conducted, which resulted in the track error in the range of （ -4,4） . The experimental results show effectiveness of the proposed approach.
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