Design and test of an improved active disturbance rejection control system for water sampling unmanned surface vehicle. (1st February 2022)

• Record Type: Journal Article
• Authors: Wu, Defeng; Yuan, Kexin; Huang, Youqiang; Yuan, Zhi-Ming; Hua, Lisha
• Is Part Of: Ocean engineering. Volume 245(2022)
• Publication Date: 2022-02-01
• Subjects: Water sampling unmanned surface vehicle -- Active disturbance rejection control -- Extreme learning machine -- Input constraints -- Human machine interaction; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2021.110367
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: Unmanned surface vehicles (USVs) have wide application prospects in military and civil fields. Motivated by the large demand for environmental protection equipment, a water-sampling USV (WS-USV) system is designed in this study. The software and hardware of the entire system are designed and developed independently. Two water sampling modes, a manual remote control mode and remote interface automatic control mode are designed for handling emergencies. The WS-USV is propelled by twin-propellers. These propellers have many input constraints owing to their inherent structure, making the design of the controller very difficult. In this study, an improved active disturbance rejection control (ADRC) method is proposed and a saturation function is introduced to design a path-following control system for the WS-USV. This enhances the anti-disturbance ability for addressing environmental disturbances by wind, waves and currents in the water sampling process. The stability of the system is improved. The feasibility, stability and performance superiority of the control system are proven by water sampling contrast experiments. Highlights: A set of WS-USV system is independently designed. To facilitate emergency treatment, a manual remote control device and remote automatic control platform are designed for the WS-USV. A saturation function is introduced in the design of the control system to solve multiple input constraints for the WS-USV system, which enhances the stability of the system. An improved ADRC strategy is proposed for the WS-USV, whose stability is proved using Lyapunov method. Then, a path following control system is designed based on the proposed control strategy.