ADRC Based Ship Course Controller Design and Simulations
Because of the strong non-linearity, uncertainty and the dynamics restraints of rudder, designing a high performance ship course controller is yet a challenge work. Firstly, the ADRC control method was introduced briefly. Then the ship course motion characteristics were analyzed and the nonlinear model with the autopilot dynamic restrictions was given. Then the ship course motion system was expressed as a serial system, and the ADRC controllers were designed. At last, the ship’s course change and keeping control simulations were done in uncertainty environment. The results show that the ADRC controller can adapt well to the nonlinearity of ship course motion and has strong robustness to ship’s parameter perturbations and the system’s disturbances.
Ship course control Nonlinearity uncertainty ADRC Robustness
Jiuhong Ruan Yibin Li
Institute of Advanced Vehicle and Robot Shandong Jiaotong University Jinan, Shandong Province, China Robot Center Shandong University Jinan, Shandong Province, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）