Tracking control of ships based on ADRC−MFAC
ObjectiveThis paper aims to investigate the complex influence of environmental disturbances on unmanned surface vehicles (USVs) under real ocean conditions, and control USVs to overcome disturbances and realize path following. MethodsAn improved active disturbance rejection controller (ADRC) based o...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2024-02-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03226 |
| _version_ | 1797257507143417856 |
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| author | Shijie LI Chengqi XU Jialun LIU Ziqian XU Fanbin MENG |
| author_facet | Shijie LI Chengqi XU Jialun LIU Ziqian XU Fanbin MENG |
| author_sort | Shijie LI |
| collection | DOAJ |
| description | ObjectiveThis paper aims to investigate the complex influence of environmental disturbances on unmanned surface vehicles (USVs) under real ocean conditions, and control USVs to overcome disturbances and realize path following. MethodsAn improved active disturbance rejection controller (ADRC) based on the model-free adaptive control (MFAC) law (ADRC−MFAC) is proposed to establish the non-linear relationship between the input data (rudder angle) and output data (heading angle, angular velocity), and identify the unknown disturbances of the system. In this way, stable heading control can be achieved. Combined with the adaptive line-of-sight (LOS) guidance law, it achieves accurate tracking control through dynamic heading control.ResultsThe simulation results show that the controller can control USVs to approach the preset path quickly and achieve a desirable tracking control effect under complex disturbances. ConclusionThe research results do not depend on the specific model of USV and can provide valuable references for ship tracking control. |
| first_indexed | 2024-04-24T22:38:44Z |
| format | Article |
| id | doaj.art-1ca85e5ec436453eb9977499051594e7 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 |
| language | English |
| last_indexed | 2024-04-24T22:38:44Z |
| publishDate | 2024-02-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-1ca85e5ec436453eb9977499051594e72024-03-19T06:34:50ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852024-02-0119128028910.19693/j.issn.1673-3185.03226ZG3226Tracking control of ships based on ADRC−MFACShijie LI0Chengqi XU1Jialun LIU2Ziqian XU3Fanbin MENG4State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaSchool of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaSchool of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, ChinaLaboratory of Science and Technology on Marine Navigation and Control, China State Shipbuilding Corporation,Tianjin 300131, ChinaObjectiveThis paper aims to investigate the complex influence of environmental disturbances on unmanned surface vehicles (USVs) under real ocean conditions, and control USVs to overcome disturbances and realize path following. MethodsAn improved active disturbance rejection controller (ADRC) based on the model-free adaptive control (MFAC) law (ADRC−MFAC) is proposed to establish the non-linear relationship between the input data (rudder angle) and output data (heading angle, angular velocity), and identify the unknown disturbances of the system. In this way, stable heading control can be achieved. Combined with the adaptive line-of-sight (LOS) guidance law, it achieves accurate tracking control through dynamic heading control.ResultsThe simulation results show that the controller can control USVs to approach the preset path quickly and achieve a desirable tracking control effect under complex disturbances. ConclusionThe research results do not depend on the specific model of USV and can provide valuable references for ship tracking control.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03226tracking controladrc algorithmmfac algorithmdata-driven control |
| spellingShingle | Shijie LI Chengqi XU Jialun LIU Ziqian XU Fanbin MENG Tracking control of ships based on ADRC−MFAC Zhongguo Jianchuan Yanjiu tracking control adrc algorithm mfac algorithm data-driven control |
| title | Tracking control of ships based on ADRC−MFAC |
| title_full | Tracking control of ships based on ADRC−MFAC |
| title_fullStr | Tracking control of ships based on ADRC−MFAC |
| title_full_unstemmed | Tracking control of ships based on ADRC−MFAC |
| title_short | Tracking control of ships based on ADRC−MFAC |
| title_sort | tracking control of ships based on adrc mfac |
| topic | tracking control adrc algorithm mfac algorithm data-driven control |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03226 |
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