用自抗扰控制提升无人船轨迹跟踪精度，实测有效但耗能更高
Active Disturbance Rejection Control for Trajectory Tracking of a Seagoing USV: Design, Simulation, and Field Experiments
- 采用自抗扰控制算法实时估计并补偿海浪与洋流干扰
- 仿真显示横移误差比传统PID降低超40%，但控制能耗上升25%以上
- 在荷兰海港和海上实测验证，适合高精度轨迹控制场景
无人水面艇（USV）在波浪和海流等不确定环境干扰下面临严峻的控制挑战。本文基于自抗扰控制（ADRC）设计了一种轨迹跟踪控制器，并在DUS V2500无人船上实现。开发了包含真实波浪与洋流干扰的定制化仿真系统以验证性能，并通过在荷兰斯海尔维宁根港及海上开展的实地试验进一步确认。仿真结果表明，相较于基准PID控制器，ADRC在所有测试条件下均显著降低横移误差，但增加了控制努力与能耗。实地试验验证了上述结论，且海上试验中的能耗增幅高于港口测试。
原文摘要 · Abstract (English)
Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking controller based on Active Disturbance Rejection Control (ADRC) implemented on the DUS V2500. A custom simulation incorporating realistic waves and current disturbances is developed to validate the controller's performance, supported by further validation through field tests in the harbour of Scheveningen, the Netherlands, and at sea. Simulation results demonstrate that ADRC significantly reduces cross-track error across all tested conditions compared to a baseline PID controller but increases control effort and energy consumption. Field trials confirm these findings while revealing a further increase in energy consumption during sea trials compared to the baseline.
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