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. © 2013 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Li, R., Li, T., Zheng, Q., & Gao, X. (2013). Active disturbance rejection control on path following for underactuated ships. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7952 LNCS, pp. 268–275). Springer Verlag. https://doi.org/10.1007/978-3-642-39068-5_33
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