Chinese Journal of Ship Research, Volume. 20, Issue 4, 272(2025)
Path following control of large ship towing based on hierarchical anti-disturbance control strategy
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Table 1. Parameters of the system model
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参数 拖轮数值 被拖船数值 船长/m 2.0 12.0 型宽/m 0.58 1.54 型深/m 0.40 1.07 平均吃水/m 0.23 0.75 排水量/kg 138 8×103 方形系数 0.61 0.76 湿表面积/m2 1.41 32.44
Table 2. Performance indexes of path following
View tableView in ArticleTable 2. Performance indexes of path following
被拖船性能指标 拖轮性能指标 $e_{{\text{ave}}}^{{y_{{{\text{e}}_{\text{0}}}}}}$ $e_{{\text{ave}}}^{{\psi _0}}$ $e_{{\text{ave}}}^{{u_0}}$ $e_{{\text{ave}}}^{{\psi _1}}$ $e_{{\text{ave}}}^{{u_1}}$ HAD-CS 1.448 5.857 0.008 3.806 0.011 SAD-CS 1.743 8.961 0.025 7.921 0.023 性能提升/% 16.9 34.6 68.0 51.9 52.2
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Baisong LU, Jian WANG, Bo ZHANG, Bing ZHAO, Zhiyuan HAO, Hong YI. Path following control of large ship towing based on hierarchical anti-disturbance control strategy[J]. Chinese Journal of Ship Research, 2025, 20(4): 272
Paper Information
Category: Marine Machinery, Electrical Equipment and Automation
Received: May. 23, 2024
Accepted: Jul. 11, 2024
Published Online: Sep. 11, 2025
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