IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v52y2021i4p756-769.html
   My bibliography  Save this article

Active disturbance rejection control for ship course tracking with parameters tuning

Author

Listed:
  • Rui Wu
  • Jialu Du
  • Guixian Xu
  • Donghai Li

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.

Suggested Citation

  • Rui Wu & Jialu Du & Guixian Xu & Donghai Li, 2021. "Active disturbance rejection control for ship course tracking with parameters tuning," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(4), pages 756-769, March.
    • Handle: RePEc:taf:tsysxx:v:52:y:2021:i:4:p:756-769
    DOI: 10.1080/00207721.2020.1838664
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2020.1838664
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2020.1838664?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:52:y:2021:i:4:p:756-769. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.