Stabilization of the Game Motion of a Vessel Using Active Disturbance Rejection Control

Authors

  • Alessandro Rosa Lopes Zachi Programa de Pós-graduação em Engenharia Elétrica, CEFET/RJ, Campus Nova Iguaçu, Rio de Janeiro - RJ
  • Walter de Britto Vidal Filho Departamento de Engenharia Mecânica, Universidade de Brasília, Campus Darcy Ribeiro - Asa Norte, Brasília - DF
  • Pedro Kahwage de Albuquerque Programa de Pós-graduação em Engenharia Elétrica, CEFET/RJ, Campus Nova Iguaçu, Rio de Janeiro - RJ
  • Guilherme Amaral do Prado Campos Coordenação do curso de Engenharia Mecânica, CEFET/RJ, Campus Nova Iguaçu, Rio de Janeiro - RJ
  • Josiel Alves Gouvêa Programa de Pós-graduação em Engenharia Elétrica, CEFET/RJ, Campus Nova Iguaçu, Rio de Janeiro - RJ

Keywords:

Disturbance rejection, Robust control, Nonlinear system, Vessel roll control, Mass damper actuator

Abstract

This work presents and discusses the application of the Active Disturbance Rejection Control (ADRC) method to the problem of stabilizing the roll motion of a marine vessel. The work focuses attention on a variant of the ADRC method called MP-ADRC (Modified-Plant ADRC) which is capable of dealing with uncertainties in the control gain. In addition to the widely known robustness properties of the ADRC method against parametric uncertainties of the plant’s mathematical model, external disturbances and poorly or unmodeled dynamics, the main idea of this work is to show the application of the method in a nonlinear system, by using a cascaded control structure.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles