Trajectory tracking Control of USV Based on Sliding Mode Active Disturbance Rejection

This article addresses the trajectory tracking control of unmanned surface vehicle (USV) by combining active disturbance rejection control (ADRC) and sliding mode control, meanwhile, the chattering of sliding mode, actuator fault and input saturation problem are also considered. Taking Dalian Maritime University "Lanxin" (USV) as the research object. Firstly, the external disturbance of marine environment is estimated by using the active disturbance rejection theory, and a trajectory tracking controller is designed through the traditional sliding mode control. Then, on the basis of our design, the power function is used to replace the sign function to reduce the chattering of the sliding mode control, design the controller to handle actuator fault based on the possibility of actuator attenuation failure, and the problem of input saturation is solved by introducing auxiliary variables. Finally, the stability of the system is analyzed by using the Lyapunov stability theory, it is proven that all error signals in the closed-loop system are bounded. The simulation results show that both of control methods are effective, and the improved sliding mode active disturbance rejection control strategy has better control performance.