Active disturbance rejection control for ship path following with Euler method. (1st March 2022)

• Record Type: Journal Article
• Authors: Zhang, Hugan; Zhang, Xianku; Cao, Tian; Bu, Renxiang
• Is Part Of: Ocean engineering. Volume 247(2022)
• Publication Date: 2022-03-01
• Subjects: Ship motion control -- ADRC -- Path following -- Position prediction -- Euler method; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2021.110516
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: In order to solve the problems of uncertain model, unknown disturbances and overshoot in the process of ship path following, an active disturbance rejection control (ADRC) for ship path following with Euler method is proposed. Firstly, the virtual heading angle is designed by backstepping algorithm, and the three degree of freedom position control is transformed into one degree of freedom heading control. Due to the characteristics of large inertia and large time delay in ship path following, the overshoot is easy to occur in the process of path following. Euler method is used to predict the future position in order to reduce the overshoot in the process of path following. To solve the problems of internal model uncertainty and external disturbances such as wind, waves and currents, the power expended state observer is used to observe and compensate it to the controller. It has higher observation accuracy without changing the observer parameters. Finally, the simulation results show the effectiveness of the designed controller. Highlights: ∙ Through the real ship experimental data, it is verified that the design model has high accuracy. ∙ The three degree of freedom path following is transformed into one degree of freedom heading control by backstepping algorithm. The future position is predicted by Euler method to reduce the overshoot in the process of path following. ∙ The power function is used to improve the extended state observer. When the error is too large, the error gain will decrease and when the error is too small, the error gain will increase, which improves the accuracy of the observer. The highlight of this paper does not conflict with other papers.