Research on the course control of USV based on improved ADRC

Figures & data

Figure 1. The actual USV.

Figure 2. Plane movement diagram of USV, where $u$, $v$ and $r$ represent the forward speed, sway speed and yaw speed. $\psi$ and $\delta$ denote the course angle and rudder angle. $V$ is resultant velocity of $u$ and $v$. $o-xy$ is the attachment coordinate system, and $o$ is the centre of gravity of the USV, $O-X_0{Y}_0$ is the geodetic coordinate system, and $O$ is the origin, and $O{X}_0$ represents the due north direction (Fossen, 1957).

Figure 3. Principle of ADRC.

Figure 4. Firefly algorithm principle.

Figure 5. ADRC parameter setting based on FA, where $r$ is the system reference input, $u$ is the control quantity, and $y$ is the system output.

Table 1. USV parameters.

Name	Parameter	Unit
Vehicle length	12	m
Vehicle width	3	M
Speed	30	Km
Square coefficient	0.6
Rudder area	0.07	m^2
Absorb water	0.5	m
Center of gravity from the center distance	−0.5	m
Displacement	4	m^3

Figure 6. The curve of changing course under FA-ADRC and ADRC.

Figure 7. The curve of changing rudder under FA-ADRC and ADRC.

Table 2. Dynamic performance.

Controller	Overshoot (σ%)	Adjustment (s)
ADRC controller	0.9	8.9
FA-ADRC controller	0.2	6.7

Figure 8. The curve of changing course under FA-ADRC and ADRC.

Figure 9. The curve of changing course under FA-ADRC and ADRC.

Figure 10. The curve of changing rudder under FA-ADRC and ADRC.

Fossen, T. I. (1994). Guidance and control of ocean vehicles. John Wiley and Sons LTD.

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