Research On Path Tracking Control Of Unmanned Underwater Vehicle Based On Sliding Mode Auto Disturbances Rejection Control

USV,as a result of the integration of all kinds of high and new technologies in the new era,plays an important role in the field of ocean exploration and military investigation.Therefore,it is one of the most important research directions in the world to control the USV to come true the Path following.USV is a typical underactuated system,there are some characteristics in it,such as uncertainty,input saturation,lateral sway and so on,This brings difficulties to the control of USV.In order to solve the above problems,This paper studies curve path tracking control based on sliding mode variable structure active disturbance rejection control technique.detailed content includes:Firstly,according to the characteristics of the,"LanXin" USV,This paper used the whole idea of modeling,based on linear model,with nonlinear terms,consided the characteristics of the rudder of unmanned boat with three degrees of freedom nonlinear response model(Norrbin model),and establish interference model.Secondly,based on the active disturbance rejection control(ADRC)algorithm,the extended state observer(ESO)and the state error feedback control law(NLSEF)are linearized.Based on the theory of sliding mode variable structure,the error feedback part is designed with variable structure,and the linear sliding mode auto disturbance rejection controller with input saturation is designed."LanXin" unmanned boat as the control object,considering the wind and wave interference,simulation control through the design course,verify that the controller stability and adaptability.Finally,by using the designed linear sliding mode of ADRC controller,in the external wind,wave and flow interference environment,According to the motion model of "LanXin" USV manipulation,designed two kinds of path tracking controllers and simulation experiment;experimental result verified the design of the controller in the USV curve path tracking in the control effectiveness,solved the uncertainty,input saturation,lateral sway and other issues in the process of tracking control system,to provide reference for control of curve path for "LanXin" USV.