Formation control method based on guidance and LADRC for underactuated USVs

Abstract

In this work, to deal with the formation problem of underactuated Unmanned Surface Vehicles (USVs) with obstacle avoidance, the synthesized formation control strategy based on Line-of-Sight (LOS) guidance law and the Linear Active Disturbance Rejection Control (LADRC) method is proposed. Firstly, the mathematical model of the USV is established. Secondly, the formation controller is designed according to the LOS guidance law. Then the Artificial Potential Field (APF) method is introduced to solve the obstacle avoidance problem. Moreover, the LADRC method is used to realize the motion control. The simulation results show that the formation control method works well.