DSC and LADRC Path Following Control for Dynamic Positioning Ships at High Speed

Abstract

In this paper, a dynamic surface control (DSC) and linear active disturbance rejection control(LADRC) method with Integral LOS (ILOS) guidance method is proposed for the path following control of dynamic positioning ships at high speed. First, ILOS guidance method is used to calculate desired heading angles and compensate drift angle. Second, path following controllers are designed based on LADRC and DSC to track the desired heading angle and desired speed respectively. Third, the linear extended state observer (LESO) expands the unknown nonlinear part as a new state, and estimate and compensate the model errors and external uncertain nonlinear disturbance. ILOS introduces the integral part base on the traditional line-of-sight guidance method, which realizes the compensation of the drift angle generated by the waves. Compared to traditional backstepping, DSC technology avoids the “Complex Explosion” problem and reduces the amount of calculation. The effectiveness of the proposed controller is verified by the simulation experiment.