arXiv:2610.17498v1 Announce Type: new Abstract: This paper addresses the control of autonomous underwater vehicles (AUVs) operating in dynamic environments, where wave-induced forces, modelling errors, and actuator limitations make reliable control challenging. Active disturbance rejection control (ADRC), together with an extended state observer (ESO), estimates lumped uncertainties online, simplifying control design using nominal models. However, existing stability analyses typically assume bounded control inputs and derivatives, which are difficult to guarantee under unknown disturbances and measurement noise. To bridge this theory--practice gap, this paper introduces an ADRC framework with active input saturation and post-saturation low-pass filtering. The saturation constrains the control magnitude, while the filter regularizes the saturated signal to ensure bounded input-rate variations. By explicitly enforcing these conditions, the proposed system guarantees semi-global practical asymptotic stability. High-fidelity simulations and experiments on an underwater robotic platform demonstrate robust control performance under severe environmental disturbances and actuator constraints. A supplementary video is available at https://youtu.be/AEFlZ69Yg00.