[Objective]This paper aims to investigate the complex influence of environmental disturbances on unmanned surface vehicles(USVs)under real ocean conditions,and control USVs to overcome disturb-ances and realize path following.[Methods]An improved active disturbance rejection controller(ADRC)based on the model-free adaptive control(MFAC)law(ADRC-MFAC)is proposed to establish the non-linear relationship between the input data(rudder angle)and output data(heading angle,angular velocity),and identify the unknown disturbances of the system.In this way,stable heading control can be achieved.Com-bined with the adaptive line-of-sight(LOS)guidance law,it achieves accurate tracking control through dynamic heading control.[Results]The simulation results show that the controller can control USVs to approach the preset path quickly and achieve a desirable tracking control effect under complex disturbances.[Conclusion]The research results do not depend on the specific model of USV and can provide valuable references for ship tracking control.
tracking controlADRC algorithmMFAC algorithmdata-driven control
万方数据
维普
