ADRC based cooperative path following control for USV‐UAV within restricted waters

Abstract This study proposes an enhanced cooperative path‐following control strategy for unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs) using linear active disturbance rejection control (LADRC). A genetic algorithm is integrated to optimize the parameters of the Extended State Observer (ESO) in real‐time, addressing the challenge of complex parameter tuning. Additionally, a variable radius line of sight (LOS) algorithm is introduced to minimize tracking errors. Simulation results demonstrate that the proposed controller achieves robust cooperative path following even under environmental disturbances. Compared to traditional LOS, the root mean square error (RMSE) and mean absolute error (MAE) of variable radius LOS are reduced by 20.99% and 24.30%, respectively. The proposed controller also features simple parameter adjustment and improved observer accuracy, highlighting its effectiveness in enhancing the cooperative path following performance of USV‐UAV systems in complex marine environments.