Applications of ADRC in Unmanned Surface Vessel Course Tracking

The Unmanned Surface Vessel (USV) is researched widely due to its unattended, mobility and other advantages. In this paper, the control object is a double propeller electric propulsion USV, where the study based on. The USV motion mathematical model is studied firstly, and active disturbance rejection controller (ADRC) is applied to the USV course tracking. Simulation results demonstrate that the ADRC is effective in USV course tracking.