Considering that the ship trajectory tracking control process may be affected by external environmental factors such as wind, waves, and currents, a ship heading control tracking method based on model reference adaptive control is proposed. To facilitate the calculation, a simpler KT response model is selected as the reference process model, and the KVLCC2 ship model is selected as the controlled process model. First, the control law of the ship’s kinematics model is designed based on the model reference adaptive algorithm, and the rudder angle command of the ship is generated by the adaptive controller. The expected heading angle is generated from a reference process model, and then the controlled process model tracks the expected heading angle with the rudder angle command calculated by the adaptive algorithm to achieve the purpose of heading control. Secondly, the stability of the control system is proved based on Lyapunov stability theory. Finally, simulation experiments were conducted, and the results showed that the proposed control law can effectively manipulate the ship to track the reference heading.
Ship Heading Control Based on Model Reference Adaptive Control
2023-08-04
747835 byte
Conference paper
Electronic Resource
English
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