Trajectory Tracking Control for USVs Based on Red-billed Blue Magpie Optimized ADRC

Abstract Aiming at the characteristics of the underdriven surface unmanned ship trajectory tracking problem such as strong coupling, nonlinearity, under-driving and strong disturbance, the mathematical model of the system is established by considering the problem of parameter uncertainty. Combining the Red-billed Blue Magpie Optimizer (RBMO) and the Line-of-Sight (LOS) guidance law and the Active Disturbance Rejection Control, the problem of mutual coupling between the states of the system is solved, and the decoupled two-channel Active Disturbance Rejection Control is formed. The optimization algorithm of the red-billed blue magpie is used to optimize nine parameters of the dual-channel Active Disturbance Rejection Control, which solves the problem of the numerous parameters of the Active Disturbance Rejection Control and the difficulty of parameter tuning. The simulation results show that the control method can enable the system to track the circular trajectory related to the time parameter under the condition of parameter ingestion and subject to external perturbation, with high tracking accuracy and anti-perturbation ability, which provides a new technical way for the research of trajectory tracking control of underdriven surface unmanned vessels.