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Straight-Line Following Active Disturbances Attenuation Control of a Unmanned Surface Vehicle

Z. X. Liu, X. Yu, C. Yuan, Y. M. Zhang, J. Luo

Abstract


In this paper, a novel active disturbance compensating tracking (ADCT) control is presented with applications to unmanned surface vehicles (USVs). Firstly, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator is developed in the presence of environmental disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear USV model are conducted by comparing path following performance of the conventional LQR, the normal control method and the proposed ADCT control approach. The effectiveness of the designed controller is verified by the simulation results from an aspect of path following performance.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2014.v10.281

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