Abstract
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.
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Li, R., Li, T., Zheng, Q., Gao, X. (2013). Active Disturbance Rejection Control on Path Following for Underactuated Ships. In: Guo, C., Hou, ZG., Zeng, Z. (eds) Advances in Neural Networks – ISNN 2013. ISNN 2013. Lecture Notes in Computer Science, vol 7952. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39068-5_33
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DOI: https://doi.org/10.1007/978-3-642-39068-5_33
Publisher Name: Springer, Berlin, Heidelberg
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