Active Disturbance Rejection Generalized Predictive Control for Ship Course

Aiming at the drawbacks of conventional autopilots such as slow speed, unstable rudder angle and large error, the basic methods of active disturbance rejection control (ADRC) and generalized predictive control (GPC) are combined to control the ship's course. Active disturbance rejection control uses the extended state observer to estimate and compensate for the uncertainty of the ship motion control model parameters and the variability of external disturbances. Generalized predictive control solves the problems of system dynamics and stability, and ensures the performance of the algorithm. In this paper, a simulation experiment is designed and compared with the traditional proportional integral derivative (PID) control method, it verifies the effectiveness and robustness of active disturbance rejection generalized predictive control in ship motion control.