Trace-keeping of an air cushion vehicle based on an auto disturbance rejection controller with a recurrent networks model

Compared with conventional surface vessels,the nonlinear characteristics of an air cushion vehicle are obvious,making it difficult to manipulate.In order to improve the control quality of trace keeping,an auto disturbance rejection controller(ADRC)with a recurrent networks model(RNM) was designed for trace-guidance and heading control.A nonlinear tracking differentiator(TD) was used to obtain differential signals and realize transition arrangement.Interior and external disturbance can be estimated by the extended state observer(ESO),and the system can be simultaneously compensated.The nonlinear state error feedback(NLSEF) control law was used to generate control input.System information identified by RNM was used for real-time optimization of the ADRC coefficients.Simulations show that the proposed controller has strong adaptability.A good trace-keeping control effect can be obtained with small overshot and robustness in a harsh environment.