Model-Free Adaptive Disturbance Rejection Control of An RSV With Hardware-in-The-Loop Experiments

Abstract

This paper reports a model-free adaptive disturbance rejection control method for the surge velocity tracking of a robotic surface vehicle (RSV) in the presence of unknown external disturbances, internal dynamics, and control coefficient. Specifically, reduced-order and full-order filtering adaptive extended state observers (FAESOs) are proposed at first, for estimating the unknown control coefficient, and the lumped disturbance consisting of the unknown external disturbances and internal dynamics, simultaneously. Based on the FAESO, a model-free adaptive disturbance rejection surge velocity tracking control law is derived. A key advantage of the proposed method is that it results in uniform control performance within large variation range of control coefficient regardless of the fully unknown model. The efficacy of the developed model-free adaptive disturbance rejection control method for the surge velocity tracking of RSV is substantiated by comparing simulations and hardware-in-the-loop experiments.