Journal of Dalian Maritime University >
2015 , Vol. 41 >Issue 3: 10 - 14
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2015.03.002
Track keeping for underactuated surface ships based on variable structure active-disturbance rejection
Received date: 2014-11-07
Revised date: 2014-12-05
Online published: 2015-02-05
Variable structure control was introduced into nonlinear active-disturbance rejection controller for the straight line track keeping control problem of underactuated surface ship under the influence of internal dynamic uncertainties and external disturbances. The needed setting parameters were greatly reduced with keeping the intrinsic controller’s advantages. Meanwhile through the design of dimension reduction equation, the ship track keeping control is changed into the simple desired heading angle followed control. Simulation results show that the new controller with preferable control function is robust against the systemic variations and external disturbances, which can realize the accurate tracking of straight line.
SUN Jian , LI Wei , AN Si-meng . Track keeping for underactuated surface ships based on variable structure active-disturbance rejection[J]. Journal of Dalian Maritime University, 2015 , 41(3) : 10 -14 . DOI: 10.16411/j.cnki.issn1006-7736.2015.03.002
/
| 〈 |
|
〉 |