Path Following Control on Polar Ice Surface of Unmanned Hovercraft with Multiple Control Surfaces Based on ADRC

In this paper, the polar unmanned hovercraft is taken as the research object, and theory and simulation are used as the research means to study the motion and control strategy of the hovercraft on the polar ice region. In order to analyze and study the performance of hovercraft in polar ice region, an ice motion model of hovercraft is established first. Then, a multi-control surfaces strategy composed of propeller, air rudder and vector nozzle are proposed to achieve desired heading control under the condition of ensuring safe heading via active disturbance rejection control. In order to improve the motion performance of the hovercraft on the polar ice surface, the control instructions are reasonably distributed to each actuator, and the problem of the unstable roll angle of the ice surface is solved by introducing the vector nozzle roll angle control loop. Finally, results from some simulation studies verify the desired path following is realized in polar ice region.