To deal with the high precision of sonar array gesture stability, a sonar array gesture controller based on ADRC was designed and simulated.

• 针对声纳基阵对高精度姿态稳定的需求,设计了一种基于自抗扰控制器的声纳基阵姿态控制器,建立了数学模型,并进行了计算机仿真。