In this paper, a hybrid solution is proposed for motion control of underactuated surface ships with actuator constraints and unknown disturbances. It combines backstepping method with Active Disturbance Rejection Control (ADRC) and sliding mode control (SMC) to form an effective and robust control structure. A coordinate transformation of nonlinear equation is introduced to steer the ship to follow the desired path. The cross track error caused by wind and current is removed via active disturbance rejection, in conjunction with the SMC based control law. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and robustness of the proposed path following controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    On path following of underactuated surface ships


    Beteiligte:
    Li, Ronghui (Autor:in) / Qi, Yunpeng (Autor:in) / Li, Tieshan (Autor:in) / Zheng, Qinling (Autor:in) / Yu, Yang (Autor:in)


    Erscheinungsdatum :

    01.07.2014


    Format / Umfang :

    159042 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Path-following of Underactuated Ships Using Polar Coordinates

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009


    Path-following of Underactuated Ships Using Serret–Frenet Coordinates

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009


    Path-tracking Control of Underactuated Ships

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009



    Path-following of Underactuated Underwater Vehicles

    Do, Khac Duc / Pan, Jie | Springer Verlag | 2009