Title :
The ship nonlinear course system control based on auto disturbance rejection controller
Author :
Chen, Wenwen ; Zhou, Fengyu ; Li, Yibin ; Song, Rui
Author_Institution :
Sch. of Control Sci. & Eng., Shandong Univ., Jinan
Abstract :
Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effects of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. Simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances.
Keywords :
control nonlinearities; control system synthesis; nonlinear control systems; ships; uncertain systems; auto disturbance rejection controller; autopilot; control nonlinearity; environmental disturbance; mathematical model; parameter perturbation; robust control; ship nonlinear course system control design; uncertain system; wave disturbance; Control systems; Design automation; Design engineering; Intelligent control; Marine vehicles; Mathematical model; Noise measurement; Nonlinear control systems; Three-term control; Uncertainty; ADRC; Ship course control; Wave disturbances;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4592876
