<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

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

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Adaptive Self-Regulation PID Control of Course-Keeping for Ships"}

To solve the nonlinear control problems of the unknown time-varying environmental disturbances and parametric uncertainties for ship course-keeping control,...

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

Published Online: Apr 30, 2020

Page range: 39 - 45

DOI: https://doi.org/10.2478/pomr-2020-0004

Keywords
ships, course-keeping control, self-regulation PID, adaptive control, Lyapunov

© 2020 Qiang Zhang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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

Published Online: Apr 30, 2020

Page range: 39 - 45

DOI: https://doi.org/10.2478/pomr-2020-0004

Keywordsships, course-keeping control, self-regulation PID, adaptive control, Lyapunov

© 2020 Qiang Zhang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
ships, course-keeping control, self-regulation PID, adaptive control, Lyapunov