Cooperative Motion Control Of Usv And Uav Based On Active Disturbance Rejection Control Technology

In recent years,as the situation at home and abroad continues to heat up,the demand for sea defense system equipment is increasing day by day,and the State Oceanic Administration has repeatedly mentioned the need to improve the observation of the ocean and the construction of an integrated system of sea,land and air.Unmanned Surface Vehicle(USV),as the main transport tool of the intelligent marine system,can undertake most of the marine research and engineering tasks on the sea surface,so it is crucial to improve the autonomous navigation capability of USVs.In this paper,the research on USV heading angle control and cooperative control between USV and Unmanned Aerial Vehicle is carried out to meet the requirements of USV autonomous capability control and sea-land-air integration construction.The main research contents of this paper are as follows.The horizontal three-degree-of-freedom motion model of USV and the threedegree-of-freedom motion model after considering the interference are built in the paper,aiming to lay the foundation for the following theoretical research as well as simulation experiments.For the path tracking problem in the cooperative control of USV and UAV(Unmanned Aerial Vehicle,UAV),a USV path tracking control algorithm based on Active Disturbance Rejection Control(ADRC)technique and fuzzy adaptive adjustment is designed.Firstly,the composition and algorithm principle of ADRC controller and fuzzy controller are introduced,and the fuzzy self-anti-disturbance controller is designed,and the core is to design fuzzy control rules;secondly,the stability of fuzzy active disturbance rejection control algorithm is verified according to Lyapunov’s second method;then,considering the USV own characteristics,especially the rudder angle range and rudder speed of influence,so two saturated nonlinear modules are used to limit the rudder model.Finally,the simulation experiments are divided into cases considering straight-line path and sinusoidal curve path,and the effectiveness of the algorithm is proved using simulation platform.For the problem of fast changing large-angle heading angle control,this paper solves the disadvantages of poor USV maneuverability and inability to achieve synchronous steering with UAV when USV and UAV are cooperatively controlled,and proposes a new sliding mode control law based on ADRC technology,and a sliding mode active disturbance rejection control with fuzzy adaptive tuning function is designed in conjunction with the above mentioned.First,the segmented linear power exponential convergence law is designed to optimize the switching characteristics of the sliding-mode controller for the jitter phenomenon introduced by the sliding-mode controller.Then,to address the problems introduced by the ADRC controller such as the drastic rudder angle change,a sliding mode differentiator is used to replace the maximum speed tracking differentiator in the ADRC,which reduces the wear and tear of the rudder and delay the rudder usage time.The adaptive adjustment of the gain parameters in the sliding mode self-tamper controller is carried out in real time by combining the fuzzy adaptive adjustment function introduced in the previous chapter.Finally,the robustness and adaptability of the designed controller are verified by simulation experiments.For the cooperative control problem of USV and UAV,the cooperative control algorithm of USV and UAV based on the fuzzy sliding mode active disturbance rejection control algorithm is proposed.First,the mathematical model and controller design of the quadrotor UAV are briefly introduced.Then,considering the synergy of the two intelligences in position,this paper proposes a cooperative controller of USV and UAV based on sliding mode self-anti-disturbance algorithm,whose stability is also verified by Lyapunov stability criterion,and the position coordinates of the UAV are taken as the control input of the USV to realize the trajectory tracking of the USV to the UAV.Secondly,for the speed tracking matching of the two intelligences,fuzzy control rules are designed according to the coordinate errors of USV and UAV at each moment to optimize the sailing speed of USV in real time and realize the speed coordination of the two intelligences.Finally,the linear trajectory and the sinusoidal trajectory are used to verify that the designed algorithm can achieve stable tracking coordination.