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Active DIsturbance Rejection Control of Surface Vessels Using Composite Error Updated Extended State Observer
Author(s) -
Sun Tairen,
Zhang Jun,
Pan Yongping
Publication year - 2017
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1489
Subject(s) - feed forward , control theory (sociology) , disturbance (geology) , active disturbance rejection control , composite number , compensation (psychology) , tracking error , tracking (education) , trajectory , state observer , repetitive control , engineering , control (management) , computer science , control engineering , control system , artificial intelligence , algorithm , physics , psychology , pedagogy , electrical engineering , astronomy , psychoanalysis , biology , paleontology , nonlinear system , quantum mechanics
In this paper, a composite‐errors‐based active disturbance rejection control law is proposed for surface vessels with exogeneous disturbances. The low‐frequency disturbances from wind, wave and ocean currents are estimated by a novel composite‐errors‐based extended state observer (ESO). Since the composite errors are composed of trajectory tracking errors and estimation errors, the disturbance rejection control is feedforward‐feedback composite control. The advantages of feedforward control and feedback control are exploited to reject system disturbances. Compared with conventional ESO‐based active disturbance rejection control, smaller estimation errors and smaller tracking errors can be achieved by the proposed disturbance compensation control. The effectiveness and superiority of the designed control law are illustrated by theoretical analysis and simulation results.