Active Disturbance Rejection Path Following Control of USV Based on Fuzzy Optimization

2021 ◽  
Author(s):  
Lei Liu ◽  
Yunsheng Fan ◽  
Yu Yang ◽  
Xinle Shen ◽  
Lu Li ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Fuzzy Optimization ◽  
Path Following ◽  
Active Disturbance Rejection ◽  
Path Following Control

scholarly journals Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Juan Li ◽  
Haitao Gao ◽  
Jiajia Zhou ◽  
Zheping Yan
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Path Following ◽  
Reference Trajectory ◽  
Active Disturbance Rejection Control ◽  
Dynamic Surface ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Path Following Control ◽  
Cross Track

This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.

scholarly journals Path Following Control of an AUV under the Current Using the SVR-ADRC

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Zheping Yan ◽  
Yibo Liu ◽  
Jiajia Zhou ◽  
Di Wu
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Path Following ◽  
Ocean Current ◽  
Support Vector ◽  
Error Feedback ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Path Following Control ◽  
Operating Points ◽  
Nonlinear State

A novel active disturbance rejection control (ADRC) controller is proposed based on support vector regression (SVR). The SVR-ADRC is designed to force an underactuated autonomous underwater vehicle (AUV) to follow a path in the horizontal plane with the ocean current disturbance. It is derived using SVR algorithm to adjust the coefficients of the nonlinear state error feedback (ELSEF) part in ADRC to deal with nonlinear variations at different operating points. The trend of change about ELSEF coefficients in the simulation proves that the designed SVR algorithm maintains the characteristics of astringency and stability. Furthermore, the path following errors under current in simulation has proved the high accuracy, strong robustness, and stability of the proposed SVR-ADRC. The contributions of the proposed controller are to improve the characteristics of ADRC considering the changing parameters in operating environment which make the controller more adaptive for the situation.

scholarly journals Active Disturbance Rejection with Sliding Mode Control Based Course and Path Following for Underactuated Ships

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Ronghui Li ◽  
Tieshan Li ◽  
Renxiang Bu ◽  
Qinling Zheng ◽  
C. L. Philip Chen
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Path Following ◽  
Internal Dynamic ◽  
Surface Ship ◽  
Compound Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Cross Track

The compound control of active-disturbance-rejection control (ADRC) with sliding mode is proposed to improve the performance of the closed-loop system and deal with the constraint condition problem of a surface ship. The advantages of ADRC with sliding mode were verified by ship course control simulations. Meanwhile, to solve the path-following problem of underactuated surface ships with uncertainties of internal dynamic and external disturbances, the ADRC controller with sliding mode is introduced to steer the ship to follow the desired path. In order to overcome the cross-track error caused by wind and current, drift angle is compensated in the controller by designing a coordinate transformation equation. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and excellent robustness of the proposed path-following controller.

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