Ship's track keeping based on variable structure active-disturbance rejection control

In this paper, variable structure control is combined with nonlinear Active-Disturbance Rejection Control (ADRC) for ship's track keeping control under the influence of internal dynamic uncertainties and external disturbances. In this way the needed setting parameters are greatly reduced with no change of the intrinsic controller's advantages. Meanwhile through the design of dimension reduction equation, ship's track keeping control can regarded as a desired head following control. Simulation results show that the new controller is robust against the systemic variations and external disturbances, and owns preferable control effect, which can realize the accurate track keeping.