Work

Active disturbance rejection heading control of USV based on parameter tuning via an improved pigeon-inspired optimization

Year: 2024

Type: article

Abstract: An improved active disturbance rejection control (ADRC) algorithm is proposed in this paper to enhance the heading control capabilities of unmanned surface vehicles (USVs) under wind and wave disturbances. The algorithm introduces two enhancements: parameter tuning and fitting, alongside the optimization of the nonlinear function in the ADRC algorithm. First, the parameter tuning employs an improved pigeon-inspired optimization (PIO) algorithm, which encompasses two strategies: the adaptive strategy and the wandering strategy. Parameter fitting ensures discretely optimized value transition into a continuous state, allowing dynamic parameter adjustments. Second, the optimization of the nonlinear function uses the D-value fitting method. Overall, the improved ADRC algorithm significantly enhances response speed to heading control commands for USVs, fortifying their resistance against wind and wave disturbances. Our proposed algorithm provides a new approach to achieve precise USV heading control.

Source: Transactions of the Institute of Measurement and Control

DOI: 10.1177/01423312241239484

Authors: Yuhang Liu, Chen Wei, Haibin Duan, Wanmai Yuan

Institutions: State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, China Electronics Technology Group Corporation

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: National Natural Science Foundation of China

Awards: G6063589163, G7958748571, G865391674, G961569315