In order to better achieve ship trajectory control, the author proposes a Backstepping state feedback controller method. By using Backstepping's design method and combining with adaptive Robust control, the author considers the three degree of freedom nonlinear mathematical model of ship motion in view of the characteristics of large inertia, time delay, nonlinearity, etc. of ship dynamics, and the problem that ships are vulnerable to environmental factors such as sea wind, waves, ocean currents, etc. during navigation. The simulation results of Simulink show that the actual position x, y, and actual heading angle of the ship under the control of Backstepping trajectory tracking control can track the expected position xd, yd, and expected heading angle $\mathbf{\psi}$ d within about 10 seconds, respectively, this further indicates that the Backstepping ship trajectory tracking controller can enable the system to follow the set expected trajectory. Research findings that compared with traditional PID controllers, the controller has faster regulation speed and more ideal tracking control effect. The actual trajectory of the ship can track the expected trajectory, achieving satisfactory control results and verifying the effectiveness of the designed controller.
The Application of Backstepping State Feedback Controller in Ship Track Control
2023-09-01
550549 byte
Conference paper
Electronic Resource
English
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