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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Ship Heading Control Based on Model Reference Adaptive Control


    Contributors:
    He, Jiawei (author) / Li, Shijie (author) / Guan, Hongxu (author) / Hu, Xinjue (author) / Liu, Jialun (author)


    Publication date :

    2023-08-04


    Size :

    747835 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    HEADING CONTROL DEVICE AND HEADING CONTROL METHOD FOR SHIP

    IMAMURA NAOKI / SAKAGUCHI RYO / SUZUKI DAISUKE | European Patent Office | 2019

    Free access

    Heading control device and heading control method for ship

    IMAMURA NAOKI / SAKAGUCHI RYO / SUZUKI DAISUKE | European Patent Office | 2021

    Free access


    Ship Heading Control Based on Fuzzy PID Control

    Zhang, Chun / Wan, Lili / Liu, Yiyi | IEEE | 2019


    The Heading Control of POD-Driven Ship Using Adaptive Integrator Backstepping

    Zhao, Yacong / Huang, Haibin / Zhuang, Yufei | Springer Verlag | 2016