JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2016, Vol. 46 ›› Issue (4): 54-59.doi: 10.6040/j.issn.1672-3961.0.2016.010

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Path following controller for unmanned surface vessels based on ADRC

WANG Changshun1,2, XIAO Hairong1   

  1. 1. School of Information Science and Electric Engineering, Shandong Jiaotong University, Jinan 250357, Shandong, China;
    2. Marine Engineering College, Dalian Maritime University, Dalian 116026, Liaoning, China
  • Received:2016-01-08 Online:2016-08-20 Published:2016-01-08

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Abstract: A path following active disturbance rejection controller with parameters online optimization was presented for underactuated USV nonlinear system. USV mathematical model with uncertain dynamics and parameterized path navigation method was described briefly. A novel method based on dual population genetic algorithm with chaotic local search strategy was introduced to online optimize the ADRC parameters. Simulation results under different conditions were presented to show numerically that the path following controller worked as expected even though there existed uncertain dynamics, unknown disturbance and parameter perturbation in the marine environment.

Key words: DPGA, ADRC, chaotic local search, nonlinear system, unmanned surface vessels, path following

CLC Number: 

  • TP273
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