Title :
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
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;
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
DOI :
10.1109/ICAL.2009.5262835
