Path Following for Unmanned Surface Vessels Based on Adaptive LOS Guidance and ADRC
This paper investigates the path following control problem for an unmanned surface vessel (USV). The method proposed is based on an identified model. The course keeping controller using active disturbance rejection control (ADRC) is employed to identify the environmental disturbance and model parameter perturbation. An improved adaptive line-of-sight (ALOS) guidance is proposed to follow reference path. The path can be either straight line or curve. The adaptive control law guarantees the uniformly globally asymptotically stable of the closed-loop USV system. Simulation results show the effectiveness of the proposed control approach.
KeywordsUnmanned surface vessel Path following Adaptive LOS guidance ADRC
This work is partially supported by “the Nature Science Foundation of China” (grant NO. 51609033) and “the Fundamental Research Funds for the Central Universities” (grant NO. 3132016315).
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