Design of Ship Straight-line Tracking Controller Based on Auto Disturbance Rejection Control Technique

摘要

A straight-line tracking controller has been designed for the non-linear and under-actuated mathematical module of ship's straight-line tracking control system based on Auto Disturbance Rejection Control (ADRC) technique. On the base of the former auto disturbance rejection control calculation, the auto disturbance rejection controller has been achieved by the combination of two control elements, which combines the two TD and the control law. Due to the liability to wind’ wave and current disturbance, an additional TD is adopted to filter the system output. At last, the simulations were performed. The results show that the controller designed can achieve high precision on ship straight-line tracking control and has strong robustness to ship parameter perturbations and environment disturbances.