Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control

In this paper, a heading angle controller of USV in complicated environment is proposed, which combines sliding mode control and improved active disturbance rejection control (ADRC). Firstly, sliding mode control (SMC) using piecewise functions eliminates chattering in traditional SMC. Then, Levant TD is employed as sliding mode tracking differentiator to solve the problem of steering gear wear, and the improved ADRC is able to estimate and compensate the interference in real time, which improves the anti-interference and adaptability of the system. Finally, a case study on the USV heading angle control is presented to demonstrate the effectiveness of the improved sliding mode active disturbance rejection control (SMADRC) scheme.