Path Following Control Of Ship Based On Concise Nonlinear Feedback Technique

摘要

In view of the difficulty of system debugging in ship path following control and excessive controller energy output, this paper proposes a concise nonlinear path following control scheme driven by a sine function. This scheme used indirect control to separate the guidance and control. In the control stage, the closed-loop gain-shaping algorithm is combined to design the control law, and the sine function is used to non-linearly decorate the controller, which reduces the energy output. Finally, by adopting the international standard ship model KCS for actual ship verification, experimental results show that the concise nonlinear path following control scheme proposed in this paper is effective and has good robust performance.