The control and simulation for the ADRC of USV

The system of unmanned surface vehicle has the problems of large inertia, long time-lag, nonlinearity and the difficulty of building accurate models. Furthermore it can easily be interfered by external factors, such as wind, wave and airflow. The traditional way of controlling, PH), which is applied by this system, can hardly work well to control the course of a vehicle. In order to control the vehicle better, a new type of controller has been designed based on the controlling theory of active-disturbance rejection, i.e. ADRC (Active Disturbance Rejection Control). It can synthetically control the operation of the rudder and the turning of the bow. The results of simulation experiments of matlab show that the controller, ADRC, works well in controlling the course, and that it has many advantages, including the high speed of responding, high accuracy of controlling, good robustness, and strong capability of rejecting interference.