Abstract: The purpose of this article is mainly to accomplish the depth control of Autonomous Underwater Vehicles. Because of the disadvantage of BP neural networks and the advantage of wavelet neural network, we desigaed a wavelet neural network active disturbance rejection controller. We used the Matlabsimulink to test the controller. The controller has good control effect and high robustness.

Key words: active disturbance rejection control, autonomous underwater vehicle, wavelet neural network