ADRC-Based Ship-Track Control and Its Application to Traffic Safety Evaluation in Harbor Fairway
by Ronghui Li, (Navigation College, Dalian Maritime University, 116026, China. E-mail: lironghui@163.com), Tieshan Li, (Navigation College, Dalian Maritime University, 116026, China. E-mail: tieshanli@126.com), and Renxiang Bu, (Navigation College, Dalian Maritime University, 116026, China)
Section: Volume IV: Water Transportation, pp. 2675-2682, (doi: http://dx.doi.org/10.1061/41177(415)337)
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| Document type: |
Conference Proceeding Paper |
| Part of: |
ICTIS 2011: Multimodal Approach to Sustained Transportation System Development: Information, Technology, Implementation |
| Abstract: |
This paper investigates the control design of a novel ship-track controller, i.e., an active-disturbance-rejection-control (ADRC)-based ship-track autopilot, and its application to the traffic safety evaluation in harbor fairway. Firstly, a robust adaptive autopilot for ship track control is developed based on ADRC, which is a model-free controller and performs with minor control energy, strong robustness and easy implementation. Then, a new ship traffic safety evaluation methodology is proposed, where an impersonal and advising strategy of ship safe maneuvering action in the investigated fairway can be further achieved. The comparing simulation results demonstrate the effectiveness of the proposed method. |
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