Research on Target Ship Course Control Method based on Active Disturbance Rejection Controller

Abstract

In order to solve the problem of over-harmonic sensor interference under the control of target ship PI, this paper proposes a course auto-disturbance rejection control method for target ship based on ADRC, which can effectively measure course Angle and suppress noise in signal. According to the motion law of the target ship, the kinematics mathematical model of the target ship including the disturbance part is established. The active disturbance rejection controller designed in this paper is composed of nonlinear differential tracker (NLTD), nonlinear extended state observer (NLESO) and nonlinear error feedback control rate (NLEFS). Finally, the simulation results show that the method based on ADRC can improve the control accuracy, reduce the error and have no overshoot.