Active Disturbance Rejection Path Following Control of USV Based on Fuzzy Optimization

In this paper, the path following control problem of unmanned surface vehicle (USV) is studied. Two different controllers are designed respectively. One is the path following controller designed by combining the active disturbance rejection control algorithm and LOS guidance algorithm. The other is the path following controller which combines the fuzzy optimization active disturbance rejection control algorithm and LOS guidance algorithm. Then the corresponding simulation experiments are carried out. The research object of the simulation experiments is the USV “Lanxin” of Dalian Maritime University. Finally, through the analysis and comparison of the above simulation experiments, the effectiveness of the controller designed in this paper is verified.