Dual-Loop Active Disturbance Rejection Control for Unmanned Surface Vehicles Under Wind Disturbance

This paper proposes a dual-loop active disturbance rejection control strategy for underactuated propeller-driven unmanned surface vehicles under wind-disturbed marine environments. The unmanned surface vehicle is modeled using a three-degree-of-freedom formulation based on the Marine Maneuvering Group standard. The outer loop adopts a backstepping-based kinematic controller to generate reference velocities, while the inner loop applies active disturbance rejection control with a nonlinear extended state observer for real-time wind compensation. A nonlinear state error feedback mechanism is integrated to enhance transient performance and robustness. Simulation results validate the effectiveness of the proposed scheme in achieving accurate trajectory tracking under varying environmental conditions.