考虑横向漂移的船舶路径跟踪自抗扰控制

针对船舶运动系统中内部动态不确定和外部干扰等问题,进行了欠驱动船舶路径跟踪的自抗扰方法研究。利用Backstepping设计参考航向角,并通过线性扩张状态观测器对流干扰和横向运动引起的横向漂移进行估计。其次,根据自抗扰算法对航向进行控制,采用线性扩张状态观测器对外界干扰及内部不确定项进行估计。最后仿真结果表明,在风流干扰下所设计的控制器仍能使船准确地跟踪上参考路径,验证了所提控制方案的有效性。

Path following based active disturbance rejection control considering transverse drift

Aiming at the problems of internal dynamic uncertainties and external disturbances in the ship motion system, the active disturbance rejection control(ADRC) method for underactuated ship path following was studied. The backstepping algorithm is used to design the reference heading angle, and the the drift cause by the current or transverse motion is estimated by the linear extended state observer(LESO). Then the course is controlled by the ADRC algorithm, and the LESO is used to estimate external disturbances and internal uncertainties. Numerical simulation results show that the designed controller can still force ship to follow the reference path accurately under the disturbances such as wind or current, which can demonstrate the effectiveness of the proposed control scheme.