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The main problem in the course control of Underactuated Surface Vehicle (USV) is that their mathematical model exhibits coupled nonlinearity and external environmental disturbances, and it can affect the course control accuracy and performance of the USV. To address this issue, this paper proposes a course control method for USV based on Fractional-order Active Disturbance Rejection Control (FADRC). Firstly, the mathematical model of the USV course system and environmental disturbances is constructed, and a Linear Extended State Observer (LESO) is designed to estimate the total disturbance in real time. Secondly, based on this, a FADRC is designed for the USV course control, and a Fractional-order State Error Feedback (FSEF) control law is developed for the course system, which compensates for the estimated value of the total disturbance in real-time. Finally, FADRC is compared with Fractional-order PID (FPID) and PID. Experimental results demonstrate the effectiveness and robustness of FADRC, enabling course control of USV in disturbed environments.

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Underactuated Surface Vehicle Course Control Based on Fractional-Order Active Disturbance Rejection Control

  • 会议论文

  • 发表日期：

    2025年

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  • Yuxiang Wei,
  • Yang Chen,
  • Jiabin Yu,
  • Zhiyao Zhao,
  • Jiping Xu,
  • Yang Lu

摘要

The main problem in the course control of Underactuated Surface Vehicle (USV) is that their mathematical model exhibits coupled nonlinearity and external environmental disturbances, and it can affect the course control accuracy and performance of the USV. To address this issue, this paper proposes a course control method for USV based on Fractional-order Active Disturbance Rejection Control (FADRC). Firstly, the mathematical model of the USV course system and environmental disturbances is constructed, and a Linear Extended State Observer (LESO) is designed to estimate the total disturbance in real time. Secondly, based on this, a FADRC is designed for the USV course control, and a Fractional-order State Error Feedback (FSEF) control law is developed for the course system, which compensates for the estimated value of the total disturbance in real-time. Finally, FADRC is compared with Fractional-order PID (FPID) and PID. Experimental results demonstrate the effectiveness and robustness of FADRC, enabling course control of USV in disturbed environments.