Original Paper

Active disturbance rejection control based underactuated surface vessel path following

  • LI Rong-hui ,
  • LI Tie-shan ,
  • BU Ren-xiang
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  • Navigation College, Dalian Maritime University, Dalian 116026,China

Received date: 2012-12-21

  Online published: 2023-05-25

Abstract

In order to realize tracking control for underactuated surface vessel with internal dynamic uncertainties and external disturbances, a desired ship heading angle tracking equation which achieves cross track error convergence is designed. Using active disturbance rejection control (ADRC) technique, an ADRC controller of ship tracking is designed. The lateral drift resulted from wind and current is solved. Simulations are performed using nonlinear ship hydrodynamic model, and the results indicate that the controller is robust against the systemic variations and external disturbances, which can realize the accurate tracking of straight line and curve path for underactuated surface vessel.

Cite this article

LI Rong-hui , LI Tie-shan , BU Ren-xiang . Active disturbance rejection control based underactuated surface vessel path following[J]. Journal of Dalian Maritime University, 2013 , 39(2) : 5 -8 . DOI: 10.16411/j.cnki.issn1006-7736.2013.02.005

References

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Outlines

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