Course Keeping Active Disturbance Rejection Control of Unmanned Ship Based on Dual Nonlinear Modification
In order to study the course keeping control problem of unmanned ships,the controllers with stability,energy saving and robustness is designed.Taking the ship model of"YU KUN"as a plant,according to its relevant parameters,the ship Nomoto model for the design of linear active disturbance rejection controller is established.To practice the concept of green shipbuilding,reduce the energy consumption in actual navigation process of unmanned ships,the dual nonlinear modification links to control system is introduced.The simulation studies are carried out by using MATLAB Simulink toolbox.Simulation results prove that the linear active disturbance rejection controller established according to the ship Nomoto model is simple to adjust parameters,and the simulation experiments using the ship linear and nonlinear models can verify that it has good stability and robustness.Based on the existing research,the introduction of dual nonlinear modification links declines the output of the control system.Using nonlinear functions to nonlinearize the output signal of the controller enables the system to achieve better control effect with lower energy inputs.The control method is proposed the course keeping control of unmanned ship can be realized and the energy consumption of ship sailing can be reduced,which has certain engineering practical significance.
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