Air Cushion Vehicle track-keeping based on AGA auto disturbance rejection control

Air Cushion Vehicle is a kind of ship with high performance including high speed and amphibian. However, with the nonlinear characteristic, it is difficult to get good maneuverability. In order to improve the control quality of track-keeping, AGA auto disturbance rejection controllers are designed for track-guidance and heading control according to its peculiarities. Different from many previous literatures, triangle track-keeping algorithm for any planned tracks is used to improve the control accuracy. On one hand, interior and external disturbance can be estimated by the extended state observer, simultaneously, the system can be compensated by the total estimation of disturbance. On the other hand, adaptive genetic algorithm (AGA) is used for real-time optimizing the control coefficients of ADRC. Simulations show that the controller proposed in this paper has strong adaptability, fast response and good stability, we can obtain good control effect in harsh environment.