Integral Backstepping Based ADRC for Path Following of Underactuated Surface Vessel

In order to realize the path following of the under-actuated surface vessel with model parameter uncertainties and external disturbances, an integral backstepping method based active disturbance rejection control strategy is proposed in this paper. Firstly, the tracking target of the vessel is reduced from tracking the earth-fixed position to tracking the integralline-of-sight (Integral LOS) angle by Integral LOS method. Secondly, active disturbance rejection control (ADRC) and an integral backstepping control are combined to control the heading angle and the longitudinal velocity respectively, then the stability is proved by using Lyapunov stability theory. Finally, the simulation results show that effectiveness of the proposed control strategy is verified.