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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Active Disturbance Rejection Control on Path Following for Underactuated Ships
verfasst von : Ronghui Li, Tieshan Li, Qingling Zheng, Xiaori Gao
Erschienen in: Advances in Neural Networks – ISNN 2013
Verlag: Springer Berlin Heidelberg
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To solve the path following problem of underactuated surface ships with internal dynamic uncertainties and external disturbances, an Active-Disturbance-Rejection Control (ADRC) controller is introduced to steer the ship to follow the desired path. Drift angle compensation is added to the controller by designing a coordinate transformation equation. The cross track static error caused by wind and current is overcome. Simulations were carried out on a fully nonlinear hydrodynamic model of a training ship to validate the stability and excellent robustness of the proposed controller.