Abstract To solve the nonlinear control problems of the unknown time-varying environmental disturbances and parametric uncertainties for ship course-keeping control, this paper presents an adaptive self-regulation PID (APID) scheme which can ensure the boundedness of all signals in the ship course-keeping control system by using the Lyapunov direct method. Compared with the traditional PID control scheme, the APID control scheme not only is independent of the model parameters and the unknown input, but also can regulate the gain of PID adaptively and resist time-varying disturbances well. Simulation results illustrate the effectiveness and the robustness of the proposed control scheme.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Self-Regulation PID Control of Course-Keeping for Ships


    Contributors:

    Published in:

    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    Unknown


    Classification :

    BKL:    55.40 Schiffstechnik, Schiffbau / 50.92 Meerestechnik