Design and test of an improved active disturbance rejection control system for water sampling unmanned surface vehicle
Wu, Defeng and Yuan, Kexin and Huang, Youqiang and Yuan, Zhi-Ming and Hua, Lisha (2022) Design and test of an improved active disturbance rejection control system for water sampling unmanned surface vehicle. Ocean Engineering, 245. 110367. ISSN 0029-8018 (https://doi.org/10.1016/j.oceaneng.2021.110367)
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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.
ORCID iDs
Wu, Defeng, Yuan, Kexin, Huang, Youqiang, Yuan, Zhi-Ming ORCID: https://orcid.org/0000-0001-9908-1813 and Hua, Lisha;-
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Item type: Article ID code: 79892 Dates: DateEvent1 February 2022Published10 January 2022Published Online7 December 2021AcceptedSubjects: Technology > Hydraulic engineering. Ocean engineering Department: Faculty of Engineering > Naval Architecture, Ocean & Marine Engineering Depositing user: Pure Administrator Date deposited: 15 Mar 2022 15:54 Last modified: 04 Sep 2024 18:44 URI: https://strathprints.strath.ac.uk/id/eprint/79892