Research on the course control of USV based on improved ADRC

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Opis

Tytuł:: Research on the course control of USV based on improved ADRC
Autorzy:: Junxiang Hu
Yuan Ge
Xu Zhou
Shuo Liu
Jincenzi Wu
Temat:: unmanned surface vehicle
course control
active disturbance rejection control
firefly algorithm
Control engineering systems. Automatic machinery (General)
TJ212-225
Systems engineering
TA168
Źródło:: Systems Science & Control Engineering, Vol 9, Iss 1, Pp 44-51 (2021)
Wydawca:: Taylor & Francis Group, 2021.
Rok publikacji:: 2021
Kolekcja:: LCC:Systems engineering
Typ dokumentu:: article
Opis pliku:: electronic resource
Język:: English
ISSN:: 2164-2583
21642583
Relacje:: https://doaj.org/toc/2164-2583
DOI:: 10.1080/21642583.2020.1865216
Dostęp URL:: https://doaj.org/article/ca7cd8cfde8345fba3d9826872ca25f7 Link otwiera się w nowym oknie
Numer akcesji:: edsdoj.7cd8cfde8345fba3d9826872ca25f7
: Czasopismo naukowe

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In order to improve the course control accuracy of unmanned surface vehicle (USV), a course control system based on improved active disturbance rejection control (ADRC) is proposed in this paper. The course controller designed in this paper can realize automatic course maintenance and achieve good stability of USV. The extended state observer of ADRC is used to estimate the unknown disturbance in real time and give appropriate compensation. It is difficult to set the ADRC parameters, so firefly algorithm (FA) is introduced into the ADRC algorithm to realize the self-setting of nonlinear feedback control law parameters. The simulation results show that the course control system designed in this paper can achieve precise control of the USV’s course and the system is robust.

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