NDLI: Ship Heading Control with Speed Keeping via a Nonlinear Disturbance Observer

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Ship Heading Control with Speed Keeping via a Nonlinear Disturbance Observer

Content Provider	Scilit
Author	Liu, Zhiquan Lu, Xiaoyang Gao, Diju
Copyright Year	2019
Description	The control problem for a ship steering system with speed loss is discussed in this paper. Two methods are proposed to deal with the unknown bounded disturbance for a sliding mode controller applied to a nonlinear surface vessel heading control system. The system uncertainties caused by speed changes are taken as internal disturbances, while the wave moments are considered as external disturbances. A feedback linearization method is adopted to simplify the nonlinear system. An adaptive method and a Nonlinear Disturbance Observer (NDO) are proposed for course keeping manoeuvres and speed keeping in vessel steering and provide robust performance for time varying wave disturbance and actuator dynamics. Furthermore, the overall stability conditions of the proposed controllers are analysed by Lyapunov's direct method. Finally, simulation results using the characteristics of a naval vessel illustrate the effectiveness of the presented control algorithms.
Related Links	https://www.cambridge.org/core/services/aop-cambridge-core/content/view/FCBAEA24C9BE669D7A581CDEB913D03C/S0373463318001078a.pdf/div-class-title-ship-heading-control-with-speed-keeping-via-a-nonlinear-disturbance-observer-div.pdf
Ending Page	1052
Page Count	18
Starting Page	1035
ISSN	03734633
e-ISSN	14697785
DOI	10.1017/s0373463318001078
Journal	Journal of Navigation
Issue Number	04
Volume Number	72
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2019-07-01
Access Restriction	Open
Subject Keyword	Journal of Navigation Marine Engineering Course Keeping Speed Loss Sliding Mode Control
Content Type	Text
Resource Type	Article
Subject	Oceanography Ocean Engineering

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