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Chinese Journal of Ship Research, Volume. 19, Issue 1, 280(2024)

Tracking control of ships based on ADRC−MFAC

Shijie LI1,2,5, Chengqi XU5, Jialun LIU1,2,3,4, Ziqian XU5, and Fanbin MENG2,6
Author Affiliations
  • 1State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China
  • 2Laboratory of Science and Technology on Marine Navigation and Control, China State Shipbuilding Corporation,Tianjin 300131, China
  • 3Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
  • 4National Engineering Research Center for Water Transport Safety, Wuhan 430063, China
  • 5School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China
  • 6Tianjin Navigation Instruments Research Institute, Tianjin 300131, China
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    AbstractGet PDFGet PDF(in Chinese)
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    Objective

    This paper aims to investigate the complex influence of environmental disturbances on unmanned surface vehicles (USVs) under real ocean conditions, and control USVs to overcome disturbances and realize path following.

    Methods

    An improved active disturbance rejection controller (ADRC) based on the model-free adaptive control (MFAC) law (ADRC-MFAC) is proposed to establish the non-linear relationship between the input data (rudder angle) and output data (heading angle, angular velocity), and identify the unknown disturbances of the system. In this way, stable heading control can be achieved. Combined with the adaptive line-of-sight (LOS) guidance law, it achieves accurate tracking control through dynamic heading control.

    Results

    The simulation results show that the controller can control USVs to approach the preset path quickly and achieve a desirable tracking control effect under complex disturbances.

    Conclusion

    The research results do not depend on the specific model of USV and can provide valuable references for ship tracking control.

    Keywords
    ADRC algorithmdata-driven controlMFAC algorithmtracking control
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    Shijie LI, Chengqi XU, Jialun LIU, Ziqian XU, Fanbin MENG. Tracking control of ships based on ADRC−MFAC[J]. Chinese Journal of Ship Research, 2024, 19(1): 280

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    Paper Information

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    Received: Dec. 23, 2022

    Accepted: --

    Published Online: Mar. 18, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.03226

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology