Research On Active Disturbance Rejection Motion Control For USV Driven By Fixed Two Propellers

The twenty-first Century is the century of the ocean,and ocean both from the view of national strategy and sustainable development strategy of resources is an important strategic space and resources land.With the development of marine equipment manufacturing technology,unmanned surface vehicles(USV),as a new type of marine platform,can help human to complete specific maritime operations by carrying various equipment,has become an important tool for human to uncover,explore and protect the ocean.The research of USV involves the key technology fields such as hull structure,communication and navigation,motion control and so on.Motion control technology is the basic research problem.It is of great theoretical significance and practical value to continuously explore effective USV motion control technology.This paper mainly studies the control of the underactuated USV's surge velocity,angular rate,yaw with model uncertain and disturbance unknown of the marine environment,and then employ a constant bearing(CB)guidance method to realize target tracking on the basis of previous work.The specific research work is as follows.The research status of motion control technology of USV at domestic and overseas is summarized.The kinematic and kinetic equations of underactuated USV driven by fixed two propellers are established.In the control problem of the USV's surge velocity,angular rate,yaw,an adaptive disturbance rejection control(ADRC)algorithm based on extended state observer(ESO)is designed aiming at model uncertain and disturbance unknown of marine environment,also the Input-to-state Stability(ISS)and cascade system theory are used to analyse the stabilization of the control subsystem,estimation subsystem and closed loop system.For target tracking,a CB guidance control method is employed,furthermore,ISS and cascade system theory are used to analyse the stabilization of the whole system including the kinematic control subsystem and the kinetic control subsystem.In order to verify the effectiveness of the control method designed in this paper,simulation and experiment are carried out respectively.The kinematic and kinetic model of underactuated USV driven by fixed two propellers are built on Matlab/Simulink.The effectiveness of the control method for surge velocity,angular rate,yaw control of USV is verified,and the effectiveness of the CB guidance law in target tracking is verified.An USV driven by fixed two propellers designed by our laboratory is used as the experimental platform.Experiments on surge velocity,angular rate,yaw control and target tracking of USV are also carried out,which further verifies the effectiveness of the control method.