Research on Drive Control of Underwater Oscillating Mechanism Under Complex Disturbances

To enhance underwater recovery accuracy of UUV s, this study proposes a composite control strategy integrating adaptive backstepping sliding mode control and an extended state observer to address parameter perturbations, nonlinear disturbances, and actuator chattering in oscillating mechanism under complex fluid environment. A boundary layer function suppresses chattering, while an adaptive gain law enhances robustness, utilizing the observer for real-time compensation of lumped disturbances. Simulations validate the effectiveness of the proposed method.