Active Disturbance Rejection Sliding Mode Control for USV Path Tracking

In order to improve the tracking accuracy and adaptability of the USV on the sea, this paper proposes an improved path tracking activedisturbance rejection control algorithm based on terminal sliding mode. Considering the robustness of active disturbance rejection control (ADRC) and the ability to deal with external and internal uncertainties, and the advantages of sliding mode control (SMC), such as fast response, without requiring system identification etc, by the combination of ADRC and SMC control strategy, are terminal sliding mode active disturbance rejection control(TSM-ADRC) is developmented to design the heading and longitudinal velocity controllers respectively, and the stability analysis is proved by the Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by simulation.