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Improved active disturbance rejecter control for trajectory tracking of unmanned surface vessel

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Abstract

In this paper, an improved ADRC is proposed for the design of a robust trajectory tracking control of a fully actuated unmanned surface vessel in the presence of complex time-varying disturbances; parameters uncertainties; and sensors noise. The conventional extended state observer (ESO) is effective in estimating the system states and constant or slow-varying disturbances. However, they are limited while dealing with fast-varying disturbances, in addition to the effects of the measurements noise which may affect the convergence of the system in case of high gains of the ESO. In order to cope with these problems, two essential improvements have been introduced to the ESO. Firstly, a generalization of the ESO is proposed to enhance the estimation quality of a general disturbances type composed of two principle components, polynomial and harmonic. Secondly, an extension of the space of the state with another fictional state variable that will be used to decouple the sensors noise from the estimated state variables. In order to illustrate and clarify those effects, computer simulations are conducted under sinusoidal-like type disturbances and noisy output signal, and the tracking performances of the conventional and improved ADRCs are compared.

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Authors and Affiliations

  1. UER Systèmes Automatiques Intelligents, Ecole Militaire Polytechnique, BP17, Bordj El Bahri, 16046, Algiers, Algeria

    Habib Choukri Lamraoui & Yasser Bouzid

  2. Automation College, Harbin Engineering University, Harbin, China

    Zhu Qidan

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  1. Habib Choukri Lamraoui
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  2. Zhu Qidan
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  3. Yasser Bouzid
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Correspondence to Habib Choukri Lamraoui or Yasser Bouzid.

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Lamraoui, H.C., Qidan, Z. & Bouzid, Y. Improved active disturbance rejecter control for trajectory tracking of unmanned surface vessel. Mar Syst Ocean Technol 17, 18–26 (2022). https://doi.org/10.1007/s40868-021-00110-x

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