Ship's track keeping based on variable structure active-disturbance rejection control

Ning, Jun; Sun, Jian; Li, Tieshan; Wang, Qiao

doi:10.1109/icicip.2015.7388208

Cited by 2 publications

(4 citation statements)

References 8 publications

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“…The relationship between the position and the motion parameters of the ship can be expressed by the following equations [32]: cos sin sin cos…”

Section: Figure 1 Ship Plane Motion Schematic and Variablementioning

confidence: 99%

“…The following form of FTSM [36]  plays a fast attracting effect. The system state quickly reaches the sliding surface and slides on the surface, after that, the state tracking error integral term accelerates the steady speed, making the system error quickly converges to zero [32]. Since both  and  are positive numbers, the negative exponential term is not generated when the sliding surface is deduced, which eliminates the singular problem well [32].…”

Section: B Eso-bftsm Controller Design and Stability Analysismentioning

confidence: 99%

“…When 2 e converges to 0 and selecte the appropriate 0 w ,can ensure 0 V  , that is , all states of the system are semi-globally uniformly bounded [32], and the control system is progressively stable, achieving the purpose of trajectory tracking control.…”

Section: B Eso-bftsm Controller Design and Stability Analysismentioning

confidence: 99%

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DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking

Ning

Chen

et al. 2021

IEEE Access

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In order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then the complex track control is transformed into a heading control problem. The fast terminal sliding mode (FTSM) is introduced together with the Backstepping control technique to reduce the system adjustment time, eliminate the chattering. Bying combined with extended states observer (ESO) and dynamic surface control (DSC) technique, the internal and external disturbances in real-time can be estimated and compensated, and the "explosion of complexity" caused by backstepping technique is solved. The state of the control system is bounded and stable, and the system error converges to zero. Matlab simulation proves that the controller can realize the trajectory-tracking control quickly and accurately, and has strong robustness to external disturbances. INDEX TERMSFast terminal sliding mode; Extended states observer; Ship trajectory-tracking control; Robustness I.INTRODUCTION

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“…The relationship between the position and the motion parameters of the ship can be expressed by the following equations [32]: cos sin sin cos…”

Section: Figure 1 Ship Plane Motion Schematic and Variablementioning

confidence: 99%

Section: B Eso-bftsm Controller Design and Stability Analysismentioning

confidence: 99%

See 1 more Smart Citation

DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking

Ning

Chen

et al. 2021

IEEE Access

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“…Although automation technologies in the United States, Germany, and Japan have led the way until now, many other countries such as China, Israel, and South Korea are also investing in technology development. Based on these technical skills, research related to track keeping control [3][4][5], dynamic ship position [6][7][8], and automatic movement control [9] is underway; with application research also proceeding for actual vessels.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of Longitudinal Control of a Platoon of Vessels Established via the V-REP Simulator

Kim

Lee

Kim

2019

IJFIS

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This study experimentally validates longitudinal control of a platoon of vessels established via the virtual robot experimentation platform (V-REP) simulator. For inter-vessel platooning, vessel positions are verified through GPS and the azimuth between vessels. A safety distance between the preceding and trailing vessels moving at variable speeds is proposed. The proposed method enables all the vessels to move, maintaining a compact formation, even when another vessel crosses the platoon of vessels because preceding vessels wait for trailing vessels. Results of extensive V-REP-based simulations indicate that the proposed approach is viable and effective in establishing longitudinal control of a platoon of vessels.

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Ship's track keeping based on variable structure active-disturbance rejection control

Cited by 2 publications

References 8 publications

DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking

DSC-ESO Approach to Robust Sliding Model Control for Ship’s Curve Trajectory Tracking

Experimental Validation of Longitudinal Control of a Platoon of Vessels Established via the V-REP Simulator

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