Path Tracking Control Of Unmanned Surface Vehicle Based On Active Disturbance Rejection Control

"Maritime power" is an important development strategy of China.The path of marine research and technological development is still extremely long.Unmanned surface vehicle(USV)has excellent military and economic prospects as a key component of new marine equipment.This paper takes the core control algorithm of USV system as the main research content,which explores the application effect of Active Disturbance Rejection Control(ADRC)theory in USV heading control and path tracking control system.The research analyzes the limit situation of USV system and proposes to improve the ADRC method.Simulation and physical experiments are designed to verify the effectiveness of the proposed method.The main research content and results of this paper are as follows:Considering the nonlinear characteristics of USV,a nonlinear response Norrbin model is constructed.The actuator characteristic model is used to replicate the system’s physical restrictions,while the wind wave disturbance model is used to simulate the system’s external disturbance.The mathematical model of unmanned ship is established to prepare the groundwork for future research.An ADRC controller is designed to solve the heading control problem of USV,while an improved design approach of transition curve is proposed to increase heading control rapidity.The third-order ADRC heading control system is designed by determining the order of the controlled object and estimating the object’s gain constant.The anti-interference performance test experiment compares the control effect of a traditional PID algorithm to verify the anti-interference ability and robustness of ADRC.Based on the system’s limit characteristic curve,an improved method of heading control is proposed,and simulation experiments are designed to verify the improved method’s effectiveness.According to the path tracking control problem of USV,two ideas are used to design the ADRC controller.One is to turn the path tracking problem into a stabilization problem.Simulations of straight-line and sinusoidal path tracking are designed to test the system’s anti-interference ability and robustness.The other is to offer a transition angle switching control technique based on the line of sight(LOS)guiding law,which takes into account the initial state of the USV,in order to achieve the system’s straight-line path tracking control in any initial condition.A physical USV system is established to complete the ADRC algorithm programming.The purpose of the water-tank experiment is to study and validate the effect of the active disturbance rejection control algorithm on heading control and straight-line path tracking control in a real USV system.The physical experimental evidence and reliable practice cases are provided for ADRC theoretical research,which helps to further improve the control accuracy and interference immunity of actual USV systems in the marine environment.