Fishing ship track keeping control based on closed-loop gain shaping algorithm under rough sea

Objectives In order to solve the track keeping problem of fishing ship in rough sea, a separated track keeping controller is proposed.

Methods The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm, and an arctan function is introduced to effectively solve the problem of excessive control energy of the system. At the same time, an integral separation design is used to solve the integral term influence in conventional PID controllers on the transient performance of the system.

Results Based on the results of simulation experiments on a common 32.98 m fiberglass reinforced plastic (FRP) trawler (model SDB8102) under 7-level winds, the steady state trajectory error is less than 3 m, which verifies the method is safe, feasible, concise and effective.

Conclusions The research results can provide a reference for fishing ship track keeping control as well as the intelligent level enhancement of fishing ship equipment.