Ship course tracking control based on the state feedback linearization and ESO

  • WU Rui ,
  • DU Jia-lu ,
  • SUN Yu-qing ,
  • LI Dong-hai
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  • (1a.School of Marine Electrical Engineering;1b.Marine Engineering College, Dalian Maritime University, Dalian 116026, China;2.Department of Thermal Engineering,Tsinghua University, Beijing 100084, China)

Received date: 2019-05-27

  Revised date: 2019-07-21

  Online published: 2019-08-02

Abstract

Aiming at  the problem of the ship course tracking, considering the characteristics of the rudder servo system, the dynamic parameter uncertainties of ships and the unknown time-varying environmental disturbance, a ship course tracking control law was designed by using the state feedback linearization principle and the basic thought of the extended state observer (ESO). Firstly, the nonlinear coordinate transformation was carried out for the ship steering mathematical model with an actuator. Then, the ESO was constructed to estimate the total disturbance due to the dynamic parameter uncertainties and the unknown time-varying environmental disturbance. Based on the above, the ship course tracking control law was designed by using the state feedback linearization principle. The theoretical analysis shows that the estimation errors of the constructed ESO asymptotically converge to zero, and the designed ship course tracking control law makes the closed-loop course tracking system of ships be stable and the ship course tracking error asymptotically converge to zero . Finally, a warship was taken as an example for simulation.The simulation results show the effectiveness and the robustness against the disturbance  of the designed ship course tracking control law.

Cite this article

WU Rui , DU Jia-lu , SUN Yu-qing , LI Dong-hai . Ship course tracking control based on the state feedback linearization and ESO[J]. Journal of Dalian Maritime University, 2019 , 45(3) : 93 -99 . DOI: 10.16411/j.cnki.issn1006-7736.2019.03.013

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