| Popis: |
The complex interference from ocean environment and the complicated ship shape and structure result in the model uncertainties of dynamic positioning system (DPS). Due to the inaccuracy and coupling of model, it is difficult to adjust it well for common method. This paper introduces the active disturbance rejection controller (ADRC) to control the ship moving and positioning with DPS because of its independence from accurate model and easy to decouple. In this study, the biogeography-based optimization (BBO) is employed to optimize the parameters of ADRC which are not easy to adjust artificially. Finally, the presented method is verified effectively by computer simulations. |
