Variable structure active-disturbance rejection control for path following of underactuated ship

摘要

In this paper, in order to solve the path-following problem of underactuated surface ships, active-disturbance rejection control combining with the variable structure is proposed to steer a desired path. On the other hand, the uncertainties of internal dynamic and external disturbances can also be solved. In this way the needed setting parameters are greatly reduced with no change of the intrinsic controller's advantages. Meanwhile through the design of dimension reduction equation, ship's track keeping control can be regarded as a desired head following control. Simulation results validate the stability and excellent robustness of the proposed path-following controller.