Designing a ship course controller by applying the adaptive backstepping method
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چکیده
منابع مشابه
Designing a ship course controller by applying the adaptive backstepping method
The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control ...
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The article systematises and perform approaches the new concept of the ship autopilot in which control rules are derived for nonlinear controllers designed with the aid of the backstepping method and used for controlling the ship’s motion on its course. The objectives, approaches and problems were described. The design is very interesting has goals to create closed-loop systems with desirable s...
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As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of ...
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Ship steering design presents challenges because the dynamic properties of the vessel itself vary significantly. This paper develops an adaptive robust nonlinear course controller for ship steering with unknown parameters, especially completely unknown control coefficient, and under unknown bounded environmental disturbances induced by waves, wind, and ocean currents. Based on the incorporation...
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ژورنال
عنوان ژورنال: International Journal of Applied Mathematics and Computer Science
سال: 2012
ISSN: 2083-8492,1641-876X
DOI: 10.2478/v10006-012-0073-y