Ship Course Active Disturbance Rejection Control

Abstract

In order to solve the nonlinear ship course control problem with uncertain sea wave disturbance, this paper designed a ship course control method of linear active disturbance rejection control (LADRC) based on linear extended state observer (LESO). Combined with the ship motion kinematics and dynamics equations, the LESO is used to come over the influence of the model parameter perturbation and external sea wave disturbance caused by the change of the ship motion model and indicated how to design the ADRC parameter. The simulation experiments are compared ship course ADRC with the traditional PID controller under different speed conditions. Simulation results show the ship course ADRC controller is simple and intuitionist, and exhibits good control performance under disturbance of sea wave and model parameters. It has better disturbance rejection ability and robustness than PID controller.