Ship Dynamic Positioning Decoupling Control Based on ADRC

  • Zhengling Lei
  • Guo Chen
  • Liu Yang
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 213)


In this paper, the situation of dynamic positioning ships operated in some special speed is considered, and the nonlinear ship motion model of three degrees of freedom that contains nonlinear velocity term is established. Based on active disturbance rejection theory, a kind of active disturbance rejection decoupling control method is applied in ship dynamic positioning system; compared with the closed-loop system with PID controllers, the simulation results show that ADRC possesses an advantage in decoupling and anti-interference.


Dynamic position ADRC Decoupling 



This work was supported by The National Natural Science Foundation of China (No. 61074053) and The Applied Basic Research Program of Ministry of Transport of China (No. 2011-329-225-390).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.Information Science and Technology collegeDalian Maritime UniversityDalianChina

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