Abstract: To improve the heading control of air cushion vehicles,a heading controller based on fuzzy adaptive active disturbance rejection control(ADRC) is designed.On one hand,interior and external disturbances are estimated by the extended state observer and the system is compensated according to the total disturbance estimator.On the other hand, fuzzy inference is used to optimize the control parameters of ADRC in real-time.Simulation results show that the controller based on adaptive fuzzy ADRC has the features of strong adaptability,fast response speed and good stability even in harsh environment.