MOVING ENTITY CONTROL SYSTEM, MOVING ENTITY CONTROL METHOD, AND MOVING ENTITY CONTROL PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a moving entity control system that estimates a direction of disturbance and achieves fixed point retention.SOLUTION: A disturbance direction estimation unit updates an estimated disturbance direction on the basis of a proportional component and integral component of XTE (a distance between a straight line, which is parallel to a disturbance direction, out of straight lines passing a fixed point and the position of an own ship), and allows the disturbance direction to converge to a target value (allows XTE to become equal to 0). Especially, the disturbance direction estimation unit estimates the disturbance direction on the basis of a cumulative change quantity that is a cumulative value of a change in XTE. The larger the cumulative change quantity is, the larger a correction quantity is. When XTE recedes from 0 (target value), the change in XTE (derivative) assumes a positive value. Therefore, the integral value gets larger and the correction quantity gets larger. In contrast, when XTE approaches 0 (target value), the change in XTE (derivative) assumes a negative value. Therefore, the correction value gets smaller. According to the disturbance direction estimation technique, while convergence to the target value is facilitated, XTE can be smoothly approached to the target value.SELECTED DRAWING: Figure 2