On Path Following of Underactuated Surface Ships

摘要：

　　In this paper,a hybrid solution is proposed for motion control of underactuated surface ships with actuator constraints and unknown disturbances.It combines backstepping method with Active Disturbance Rejection Control(ADRC)and sliding mode control(SMC)to form an effective and robust control structure.A coordinate transformation of nonlinear equation is introduced to steer the ship to follow the desired path.The cross track error caused by wind and current is removed via active disturbance rejection,in conjunction with the SMC based control law.Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and robustness of the proposed path following controller.

关键词： Underactuated Ships Path Following Active Disturbance Rejection Sliding Mode

作者: LI Ronghui QI Yunpeng LI Tieshan ZHENG Qinling YU Yang

作者单位: Navigation college,Dalian Maritime University,Dalian 116026,China Department of Electrical and Computer Engineering,Cleveland State University,Cleveland,OH 44115,USA

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 3381-3386

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）