Underactuated Ship Sliding Model Active Disturbance Rejection Control Based on Identified Model

In response to the demand for precise ship motion control, considering the uncertainty of ship model information and external disturbances, the method of ship trajectory tracking control is proposed. Firstly, the characteristics of under-actuated ship with double propellers and double rudders are considered, and the structure of the identification model is determined through mechanism analysis, and the parameters are identified by extended Kalman filter method. On the basis of the identification model, design the controller based on sliding mode control theory. In order to improve the disturbance rej ection ability of the control system, an improved Extended State Observer is designed to estimate the internal and external disturbance of the system, and compensate in the controller design. Finally, the stability of the system is proved by Lyapunov theory, and the effectiveness is verified by MATLAB simulation.