Finite-Time Disturbance Observer-Based Adaptive Course Control for Surface Ships
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View abstract on PubMed
Summary
This summary is machine-generated.A novel adaptive control strategy enhances ship course stability by addressing input saturation and external disturbances. This finite-time disturbance observer ensures robust performance and system resilience.
Area Of Science
- Marine engineering
- Control systems theory
- Robotics
Background
- Ship course control is challenged by input saturation and external disturbances.
- Existing methods may not adequately address steering engine vibrations or input inconsistencies.
Purpose Of The Study
- To develop a finite-time disturbance observer-based adaptive control strategy for ship course control.
- To mitigate issues arising from input saturation and external disturbances.
Main Methods
- Designed a smooth saturation model using the Gaussian error function to prevent input saturation and reduce vibrations.
- Introduced an auxiliary dynamic system to compensate for rudder angle inconsistencies.
- Developed a finite-time disturbance observer and an adaptive updating law to estimate external disturbances and their derivatives.
- Proposed a novel adaptive control law using the hyperbolic tangent function.
Main Results
- The proposed control law demonstrates strong resistance to external disturbances.
- The system exhibits robustness against parameter perturbations.
- Stability analysis confirmed closed-loop system stability and boundedness of signals using LaSalle's Invariance Principle.
Conclusions
- The novel adaptive control strategy significantly improves ship course control performance.
- The method offers enhanced robustness and stability under challenging operational conditions.
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