Active disturbance rejection control for ship path following with Euler method

In order to solve the problems of uncertain model, unknown disturbances and overshoot in the process of ship path following, an active disturbance rejection control (ADRC) for ship path following with Euler method is proposed. Firstly, the virtual heading angle is designed by backstepping algorithm, and the three degree of freedom position control is transformed into one degree of freedom heading control. Due to the characteristics of large inertia and large time delay in ship path following, the overshoot is easy to occur in the process of path following. Euler method is used to predict the future position in order to reduce the overshoot in the process of path following. To solve the problems of internal model uncertainty and external disturbances such as wind, waves and currents, the power expended state observer is used to observe and compensate it to the controller. It has higher observation accuracy without changing the observer parameters. Finally, the simulation results show the effectiveness of the designed controller.