Design and simulation of ship course controller based on auto disturbance rejection control technique

Author

Han, Yaozhen ; Xiao, Hairong ; Wang, Changshun ; Zhou, Fengyu

Author_Institution

Dept. of Inf. Eng., Univ. of Shandong Jiaotong, Jinan, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

686

Lastpage

691

Abstract

Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effect of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the course switching is fast and smooth with small rudder turning volume, thus achieved high-accurate ship course control.

Keywords

control system synthesis; nonlinear control systems; robust control; ships; uncertain systems; ADRC; auto disturbance rejection controller; autopilot dynamics restraint; nonlinear mathematical model; robust control; ship course locomotion controller design; uncertainty system; wave disturbance; Automatic control; Linear feedback control systems; Marine vehicles; Mathematical model; Neural networks; Nonlinear control systems; Robust control; Sliding mode control; Three-term control; Uncertainty; Active disturbance rejection controller; Course tracking controller; Ship nonlinear model;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262835

Filename

5262835