Design of ship course-keeping system via active disturbance rejection control

The article discusses the classic problem of ship course-keeping automatic control system design. The proposed design approach uses a relatively new methodology called Active Disturbance Rejection Control (ADRC). A comparative analysis of simulation results obtained via ADRC versus a traditional aut...

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Bibliographic Details
Published inProcedia computer science Vol. 176; pp. 3310 - 3317
Main Authors Zwierzewicz, Zenon, Dorobczyński, Lech, Jaszczak, Sławomir
Format Journal Article
LanguageEnglish
Published Elsevier B.V 2020
Subjects
ADRC methodology
PID control
ship autopilot design
ship model
ship autopilot design
ship model
PID control
ADRC methodology
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Summary:The article discusses the classic problem of ship course-keeping automatic control system design. The proposed design approach uses a relatively new methodology called Active Disturbance Rejection Control (ADRC). A comparative analysis of simulation results obtained via ADRC versus a traditional autopilot based on the PID algorithm was performed. The results obtained indicate a significantly higher efficiency of the ADRC autopilot compared to the PID variant. Another important positive feature of using ADRC control over PID is the elimination of the tuning problem.
ISSN:1877-0509
1877-0509
DOI:10.1016/j.procs.2020.09.067