Abstract
Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effects of wave disturbances, designing a high performance ship course controller is always a difficult work. In order to solve the difficulty, an active disturbance rejection nonlinear control strategy is proposed, and the genetic algorithm is used to modify parameters of ADRC online which improve the ADRC’s adaptive capacity. A ship course genetic algorithm ADRC controller is designed. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances.
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Xiao, H., Pan, W., Han, Y. (2011). Design of Ship Course Controller Based on Genetic Algorithm Active Disturbance Rejection Technique. In: Lin, S., Huang, X. (eds) Advances in Computer Science, Environment, Ecoinformatics, and Education. CSEE 2011. Communications in Computer and Information Science, vol 214. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23321-0_74
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DOI: https://doi.org/10.1007/978-3-642-23321-0_74
Publisher Name: Springer, Berlin, Heidelberg
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