船舶航向线性自抗扰积分滑模控制

针对能更加精确地描述船舶动态性能的Bech模型航向控制问题，构造三阶跟踪微分器，对期望航向及其微分进行精确提取，提出了一种基于线性自抗扰的积分滑模航向控制器。该控制器采用线性扩张观测器对实际航向与内外界总扰动进行在线估计与补偿；引入积分滑模面函数，设计非线性误差反馈控制律，加快系统的收敛速度。采用Hurwitz多项式，简化控制器，实现控制器参数化。由仿真结果得出，控制器能快速准确地跟踪到期望航向，对参数摄动与外界干扰具有较强的鲁棒性。该控制器设计结构简单，线性自抗扰与变结构积分滑模面相结合的控制器设计提升了控制品质。

Ship course integral sliding mode controller based on linear active disturbance rejection control

For the ship Bech course control problem, which can describe the ship dynamic performance more precisely, a third-order tracking differentiator is structured to extract the precise prediction of the expected course and its derivative. An integral sliding mode controller based on linear active disturbance rejection control is proposed. This controller can estimate and compensate the actual course and internal and external total disturbances with LESO; To accelerate the convergence rate of the system, the integral sliding surface function is introduced to design the NonLinear State Error Feedback Control Law.The Hurwitz polynomial is introduced to simplify the controller and achieve the controller parameterization. The simulation results show that the controller can track the desired course quickly and accurately, and has strong robustness to parameter perturbation and external disturbance. The design of this controller is simple, and combining linear Active disturbance rejection control (LADRC) technique with integral sliding mode control can improve the quality of control.