Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control

Huiling Dong; Haibin Huang; Yufei Zhuang

doi:10.1109/CAC51589.2020.9326809

Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control

Huiling Dong
, Haibin Huang
, Yufei Zhuang

School of Information Science and Engineering, Harbin Institute of Technology Weihai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In this paper, a heading angle controller of USV in complicated environment is proposed, which combines sliding mode control and improved active disturbance rejection control (ADRC). Firstly, sliding mode control (SMC) using piecewise functions eliminates chattering in traditional SMC. Then, Levant TD is employed as sliding mode tracking differentiator to solve the problem of steering gear wear, and the improved ADRC is able to estimate and compensate the interference in real time, which improves the anti-interference and adaptability of the system. Finally, a case study on the USV heading angle control is presented to demonstrate the effectiveness of the improved sliding mode active disturbance rejection control (SMADRC) scheme.

Original language	English
Title of host publication	Proceedings - 2020 Chinese Automation Congress, CAC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3547-3551
Number of pages	5
ISBN (Electronic)	9781728176871
DOIs	https://doi.org/10.1109/CAC51589.2020.9326809
State	Published - 6 Nov 2020
Externally published	Yes
Event	2020 Chinese Automation Congress, CAC 2020 - Shanghai, China Duration: 6 Nov 2020 → 8 Nov 2020

Publication series

Name	Proceedings - 2020 Chinese Automation Congress, CAC 2020

Conference

Conference	2020 Chinese Automation Congress, CAC 2020
Country/Territory	China
City	Shanghai
Period	6/11/20 → 8/11/20

Keywords

Levant differentiator
USV
auto disturbance rejection control
sliding mode control

Access to Document

10.1109/CAC51589.2020.9326809

Cite this

Dong, H., Huang, H., & Zhuang, Y. (2020). Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control. In Proceedings - 2020 Chinese Automation Congress, CAC 2020 (pp. 3547-3551). Article 9326809 (Proceedings - 2020 Chinese Automation Congress, CAC 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC51589.2020.9326809

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title = "Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control",

abstract = "In this paper, a heading angle controller of USV in complicated environment is proposed, which combines sliding mode control and improved active disturbance rejection control (ADRC). Firstly, sliding mode control (SMC) using piecewise functions eliminates chattering in traditional SMC. Then, Levant TD is employed as sliding mode tracking differentiator to solve the problem of steering gear wear, and the improved ADRC is able to estimate and compensate the interference in real time, which improves the anti-interference and adaptability of the system. Finally, a case study on the USV heading angle control is presented to demonstrate the effectiveness of the improved sliding mode active disturbance rejection control (SMADRC) scheme.",

keywords = "Levant differentiator, USV, auto disturbance rejection control, sliding mode control",

author = "Huiling Dong and Haibin Huang and Yufei Zhuang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 Chinese Automation Congress, CAC 2020 ; Conference date: 06-11-2020 Through 08-11-2020",

year = "2020",

month = nov,

day = "6",

doi = "10.1109/CAC51589.2020.9326809",

language = "英语",

series = "Proceedings - 2020 Chinese Automation Congress, CAC 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceedings - 2020 Chinese Automation Congress, CAC 2020",

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Dong, H, Huang, H & Zhuang, Y 2020, Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control. in Proceedings - 2020 Chinese Automation Congress, CAC 2020., 9326809, Proceedings - 2020 Chinese Automation Congress, CAC 2020, Institute of Electrical and Electronics Engineers Inc., pp. 3547-3551, 2020 Chinese Automation Congress, CAC 2020, Shanghai, China, 6/11/20. https://doi.org/10.1109/CAC51589.2020.9326809

Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control. / Dong, Huiling; Huang, Haibin ; Zhuang, Yufei.
Proceedings - 2020 Chinese Automation Congress, CAC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 3547-3551 9326809 (Proceedings - 2020 Chinese Automation Congress, CAC 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control

AU - Dong, Huiling

AU - Huang, Haibin

AU - Zhuang, Yufei

PY - 2020/11/6

Y1 - 2020/11/6

N2 - In this paper, a heading angle controller of USV in complicated environment is proposed, which combines sliding mode control and improved active disturbance rejection control (ADRC). Firstly, sliding mode control (SMC) using piecewise functions eliminates chattering in traditional SMC. Then, Levant TD is employed as sliding mode tracking differentiator to solve the problem of steering gear wear, and the improved ADRC is able to estimate and compensate the interference in real time, which improves the anti-interference and adaptability of the system. Finally, a case study on the USV heading angle control is presented to demonstrate the effectiveness of the improved sliding mode active disturbance rejection control (SMADRC) scheme.

AB - In this paper, a heading angle controller of USV in complicated environment is proposed, which combines sliding mode control and improved active disturbance rejection control (ADRC). Firstly, sliding mode control (SMC) using piecewise functions eliminates chattering in traditional SMC. Then, Levant TD is employed as sliding mode tracking differentiator to solve the problem of steering gear wear, and the improved ADRC is able to estimate and compensate the interference in real time, which improves the anti-interference and adaptability of the system. Finally, a case study on the USV heading angle control is presented to demonstrate the effectiveness of the improved sliding mode active disturbance rejection control (SMADRC) scheme.

KW - Levant differentiator

KW - USV

KW - auto disturbance rejection control

KW - sliding mode control

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U2 - 10.1109/CAC51589.2020.9326809

DO - 10.1109/CAC51589.2020.9326809

M3 - 会议稿件

AN - SCOPUS:85100938278

T3 - Proceedings - 2020 Chinese Automation Congress, CAC 2020

SP - 3547

EP - 3551

BT - Proceedings - 2020 Chinese Automation Congress, CAC 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 Chinese Automation Congress, CAC 2020

Y2 - 6 November 2020 through 8 November 2020

ER -

Dong H, Huang H , Zhuang Y. Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control. In Proceedings - 2020 Chinese Automation Congress, CAC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 3547-3551. 9326809. (Proceedings - 2020 Chinese Automation Congress, CAC 2020). doi: 10.1109/CAC51589.2020.9326809

Heading Angle Controller Design of USV Based on Improved Sliding Mode Active Disturbance Rejection Control

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