Active disturbance rejection control of ship course keeping based on nonlinear feedback and ZOH component

Zhang, Hugan; Zhang, Xianku; Bu, Renxiang

doi:10.1016/j.oceaneng.2021.109136

Cited by 24 publications

(5 citation statements)

References 8 publications

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“…Therefore, Equation ( 6) can be written as Equation (1). 1) can be written as Equation (7) for the following ship steering controller design.…”

Section: Mathematical Modelsmentioning

confidence: 99%

“…An adaptive steering controller is based on the filter and observer, which was proposed to improve the ship steering controller's dynamic response performance [5]. The ship steering adaptive disturbance rejection control (ADRC) solution is a typical adaptive steering controller which can estimate and compensate for both the internal and external disturbance based on the state observer [6,7]. However, there still exist problems relating to difficult stability analysis and arbitrary tuning parameter settings with this solution.…”

Section: Introductionmentioning

confidence: 99%

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Ship Steering Adaptive CGS Control Based on EKF Identification Method

Guan

Peng

Zhang

et al. 2022

JMSE

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In recent years, marine autonomous surface vessels (MASS) have grown into a ship research issue to increase the level of autonomy of ship behavior decision-making and control while sailing at sea. This paper focuses on the MASS motion control module design that aims to improve the accuracy and reliability of ship steering control systems. Nevertheless, the stochastic sea and wind environment have led to the extensive use of filters and state observers for estimating the ship-motion-related parameters, which are important for ship steering control systems. In particular, the ship maneuverability Nomoto index, which primarily determines the designed ship steering controller’s performance, cannot be observed directly due to the model errors and the external environment disturbance in the process of sailing. Hence, an adaptive robust ship steering controller based on a closed-loop gain shaping (CGS) scheme and an extended Kalman filter (EKF) on-line identification method is explored in this paper. To verify the effectiveness of the proposed steering controller design scheme, the motor vessel YUKUN was taken as the control plant and a series of simulation experiments were carried out. The results show the advantages of the dynamic response performance of the proposed steering controller compared with the classical PD and traditional CGS controllers. Therefore, the proposed adaptive CGS steering controller would be a good solution for MASS motion control module design.

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“…Therefore, Equation ( 6) can be written as Equation (1). 1) can be written as Equation (7) for the following ship steering controller design.…”

Section: Mathematical Modelsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Ship Steering Adaptive CGS Control Based on EKF Identification Method

Guan

Peng

Zhang

et al. 2022

JMSE

Self Cite

View full text Add to dashboard Cite

show abstract

“…It can be derived from the linearized whole-ship model, and its parameters (the maneuverability indices) consist of some linear hydrodynamic derivatives in the whole-ship model. With the response model, the three degrees of freedom (3-DoF) model of ship maneuvering motion on the horizontal plane is simplified to the mathematical relationship between the yaw rate and the rudder angle which has the advantages of a simple structure and the ability to capture the response characteristics of ship steering motion to the control input and has been extensively used to predict ship steering motion as well as to design ship autopilots [4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Nonparametric Modeling and Control of Ship Steering Motion Based on Local Gaussian Process Regression

Ouyang,

Zou,

Zou

2023

JMSE

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This paper aims to study the nonparametric modeling and control of ship steering motion. Firstly, the black box response model is derived based on the Nomoto model. Then, the establishment of a nonparametric response model and prediction of ship steering motion are realized by applying the local Gaussian process regression (LGPR) algorithm. To assess the performance of LGPR, two cases are studied, including a Mariner class vessel by using simulation data and a KVLCC2 tanker model by using experimental data. The results reveal that the response model identified by LGPR presents good prediction accuracy and low computational burden. Finally, the identified response model is used as the basis for developing the ship heading controller, and the results demonstrate that the proposed controller is able to achieve good dynamic performance.

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“…Course control for USVs is an essential and foundational issue. There are four main types of mathematical models for USV course control, such as Nomoto [1], Norribin [2,3], MMG [4] and Fossen [5]. Based on these mathematical models, many methods have been applied to solve the course control, achieving desirable theoretical results, mainly including PID control [6], ADRC [7], dynamic surface control [8,9], sliding mode control [10,11], intelligent control [12,13] and other methods.…”

Section: Introductionmentioning

confidence: 99%

Model-Free Adaptive Sliding Mode Control Method for Unmanned Surface Vehicle Course Control

Liu,

Ye,

Yang

2023

JMSE

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A novel data-driven-based adaptive sliding-mode control scheme is proposed for unmanned surface vehicle course control in the presence of disturbances. The proposed method utilizes the model-free adaptive control (MFAC) theory. On account of the unknown dynamics of the USV course system, the control scheme is only established by online input and output information of the system. Based on a model-free adaptive control scheme, the system disturbance estimation technique is applied to compensate for the disturbances in the established compact form dynamic linearization data model. The controller is designed and combined with the sliding mode method, and a second-order switching surface with a fast terminal sliding function is employed to achieve finite-time convergence. Furthermore, an analysis of the stability of the control system is provided. Finally, MATLAB simulations are implemented to verify the validity and robustness of the proposed control scheme by comparing it with PID and typical model-free adaptive sliding mode control.

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Active disturbance rejection control of ship course keeping based on nonlinear feedback and ZOH component

Cited by 24 publications

References 8 publications

Ship Steering Adaptive CGS Control Based on EKF Identification Method

Ship Steering Adaptive CGS Control Based on EKF Identification Method

Nonparametric Modeling and Control of Ship Steering Motion Based on Local Gaussian Process Regression

Model-Free Adaptive Sliding Mode Control Method for Unmanned Surface Vehicle Course Control

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