Study on the Combined Control Algorithm of Ship Course and Speed in Ordinary-Speed1

In this paper, according to the actual demand that the ship navigates in the restricted waters needs to avoid operation by changing direction and / or changing speed, the heading controller and speed controller are designed respectively by using the method of combining the Back Stepping control method and the Extended State Observer (ESO), so as to realize the combined control of changing direction and changing speed of the ship in the ordinary-speed region. The simulation test of control algorithm is carried out with MATLAB. The test results show that the controller designed in this paper can timely and effectively control the ship course and speed, and realize the combined control of ship steering and variable speed in ordinary-speed range.