ADRC based ship tracking controller design and simulations

Because of the strong non-linearity, uncertainty and typical underactuated properties, as well as the restraints of rudder, the design of ship tracking controller is yet a challenge work. In this paper, the problem was investigated by utilizing the active disturbance rejection control (ADRC) method. Firstly, the ADRC was introduced briefly and the characteristics of ship tracking motion were analyzed. And the systempsilas nonlinear mathematical model with restraints and uncertainties was established. Then the system was described as a series structure, and the tracking ADRC controller was designed based on a kind of three order polynomial trajectory planning algorithm. At last, the simulations were performed. The results show that the controller designed can achieve high precision on ship tracking control and has strong robustness to ship parameter perturbations and environment disturbances.