Active disturbance rejection control for ship course tracking with parameters tuning

Rui Wu, Jialu Du, Guixian Xu and Donghai Li

International Journal of Systems Science, 2021, vol. 52, issue 4, 756-769

Abstract: A course tracking control law is designed based on the active disturbance rejection control (ADRC) technique for ships with unknown dynamic parameters and unknown time-varying disturbance under input saturation, which consists of feed-forward compensation and an error feedback proportional-derivative (PD) control law. The compound uncertainties, due to the unknown dynamic parameters, unknown time-varying disturbance, and input saturation, are viewed as a total disturbance, which is estimated through an extended state observer (ESO) and effectively compensated in the feed-forward path. Subsequently, an extremum seeking algorithm without steady-state oscillation (ESA-SSO) is introduced to tune the design parameters of the ADRC-based ship course tracking control law so as to obtain the better performance of ship course tracking control. The strict stability analysis shows that the resulting closed-loop course tracking control system of ships is uniformly stable. Finally, simulation results and comparisons on a frigate are presented to illuminate the effectiveness and the superiority of the designed control law.

Date: 2021
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DOI: 10.1080/00207721.2020.1838664

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