Investigation of robust ship course control based on auxiliary loop method
A novel robust control law is investigated on the problem of ship stabilization on the trajectory, which allows one to compensate perturbations in the parameters of the mathematical model of ship dynamics in cases of their changes caused by external conditions, namely: sea waves, currents, wind gusts, etc. To implement the proposed control law, only measured adjustable values are required such as the yaw angle and the control action that is the angle of the rudder of the ship. The synthesized ship course control system was investigated in MATLAB. The law of controlling the ship’s course
with unknown parameters and external disturbances in the power supply is proposed. The design of the control law is based on a robust auxiliary loop algorithm and Khalil observers. The simulations illustrate the efficiency of the proposed control law.
CYBERNETICS AND PHYSICS, Vol. 10, No. 4. 2021, 248-252. https://doi.org/10.35470/2226-4116-2021-10-4-248-252