Path Tracking Control of Dynamic Positioning Ship Based on Self-coupling PI

Aiming at the problem of model-free parameter tuning in path tracking control of dynamic positioning ship, a self-coupling proportional-integral (SC-PI) controller was proposed. The SFLOS guidance law is designed to obtain the desired heading angle as the system input. The adaptive speed factor is introduced to design the SC-PI controller of the expected heading angle, longitudinal velocity, transverse velocity and yaw angular velocity of the dynamic positioning ship to realize the path tracking control of the dynamic positioning ship. It has the advantages of less tuning parameters and no need to consider the problem of system instability. The stability and anti-disturbance robustness of the system are analyzed by complex frequency domain and time domain methods. The simulation results show that the dynamic positioning ship based on SC-PI controller can track the desired path well by quickly tuning parameters, and has good anti-disturbance ability.