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Volume 29 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2021  >  29(3): 286-292
WANG Xiao-hui, HUANG Gang, DING Jie, YUE Guang, PAN Yu-tian. Trajectory Tracking of Unmanned Surface Reconnaissance Vessel Based on Improved ADRC Algorithm[J]. Journal of Unmanned Undersea Systems, 2021, 29(3): 286-292. doi: 10.11993/j.issn.2096-3920.2021.03.006
Citation: WANG Xiao-hui, HUANG Gang, DING Jie, YUE Guang, PAN Yu-tian. Trajectory Tracking of Unmanned Surface Reconnaissance Vessel Based on Improved ADRC Algorithm[J]. Journal of Unmanned Undersea Systems, 2021, 29(3): 286-292. doi: 10.11993/j.issn.2096-3920.2021.03.006
shu

Trajectory Tracking of Unmanned Surface Reconnaissance Vessel Based on Improved ADRC Algorithm

doi: 10.11993/j.issn.2096-3920.2021.03.006
  • 1.

    Department of Electronic Engineering, Taiyuan Institute of Technology, Taiyuan 030008, China

  • 2.

    College of Electrical Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China

  • 3.

    Department of Automation, Taiyuan Institute of Technology, Taiyuan 030008, China

  • 4.

    Collaborative Research Institute of Civil Military Integration, North University of China, Taiyuan 030051, China

  • Received Date: 2020-11-19
  • Rev Recd Date: 2020-12-18
  • Publish Date: 2021-06-30
    Abstract
  • To solve the problems of slow response, poor stability, and complex parameter adjustment of current unmanned surface reconnaissance vessels in complex water environments, a trajectory-tracking method for unmanned surface reconnaissance vessels based on the improved active disturbance rejection control(ADRC) algorithm. By studying the control system of an unmanned surface reconnaissance vessel, an improved ADRC controller architecture is constructed. Then, genetic mutation and particle swarm optimization are introduced into the algorithm to initialize the parameters of ADRC and optimize global parameters. Compared with the traditional algorithm, the proposed method has the advantages of fast response speed, small overshoot, low error, and high trajectory-tracking accuracy. It is verified that the improved ADRC algorithm has a good trajectory-tracking effect and runs smoothly in a complex water environment.

     

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