Fast trimaran anti-longitudinal motion control system based on active disturbance rejection control with controller tuning

In this paper, an enhanced ADRC (active disturbance rejection control) controller which compensates for the wave-induced disturbance is proposed for the fast trimaran longitudinal motion problem. To minimize the ship longitudinal motion in the presence of wave-induced force and moment, based on the estimation and compensation of internal dynamics and external disturbances by extended state observer (ESO), heave-loop motion controller and pitch-loop motion controller are designed via ADRC. Moreover, controller parameters are optimized via a novel Levy flight-based ant colony algorithm (LACA). Numerical simulation and experiment under different sea conditions was conducted to validate the proposed method, and the results showed that effectiveness of the proposed motion controller in improving the seakeeping performance of trimaran.