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Active disturbance rejection with sliding mode control based course and path following for underactuated ships
Li R.4; Li T.4; Bu R.4; Zheng Q.3; Chen C.L.P.2
2013-12-16
Source PublicationMathematical Problems in Engineering
ISSN1024123X 15635147
Volume2013
AbstractThe compound control of active-disturbance-rejection control (ADRC) with sliding mode is proposed to improve the performance of the closed-loop system and deal with the constraint condition problem of a surface ship. The advantages of ADRC with sliding mode were verified by ship course control simulations. Meanwhile, to solve the path-following problem of underactuated surface ships with uncertainties of internal dynamic and external disturbances, the ADRC controller with sliding mode is introduced to steer the ship to follow the desired path. In order to overcome the cross-track error caused by wind and current, drift angle is compensated in the controller by designing a coordinate transformation equation. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and excellent robustness of the proposed path-following controller. © 2013 Ronghui Li et al.
DOI10.1155/2013/743716
URLView the original
Language英語
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Cited Times [WOS]:57   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Affiliation1.UMacau Research Institute
2.Universidade de Macau
3.Cleveland State University
4.Dalian Maritime University
Recommended Citation
GB/T 7714
Li R.,Li T.,Bu R.,et al. Active disturbance rejection with sliding mode control based course and path following for underactuated ships[J]. Mathematical Problems in Engineering,2013,2013.
APA Li R.,Li T.,Bu R.,Zheng Q.,&Chen C.L.P..(2013).Active disturbance rejection with sliding mode control based course and path following for underactuated ships.Mathematical Problems in Engineering,2013.
MLA Li R.,et al."Active disturbance rejection with sliding mode control based course and path following for underactuated ships".Mathematical Problems in Engineering 2013(2013).
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