Design and test of an improved active disturbance rejection control system for water sampling unmanned surface vehicle

Unmanned surface vehicles (USVs) have wide application prospects in military and civil fields. Motivated by the large demand for environmental protection equipment, a water-sampling USV (WS-USV) system is designed this study. The software hardware of entire are developed independently. Two water sampling modes, manual remote control mode interface automatic handling emergencies. WS-USV propelled twin-propellers. These propellers many input constraints owing to their inherent structure, making design controller very difficult. In study, an improved active disturbance rejection (ADRC) method proposed saturation function introduced path-following WS-USV. This enhances anti-disturbance ability addressing disturbances wind, waves currents process. stability improved. feasibility, performance superiority proven contrast experiments.