A Novel Adaptive Neural Control Scheme for Uncertain Ship Course-keeping System
نویسندگان
چکیده
In order to improve the design method of robust controller for ship course-keeping, a nonlinear controller design is presented by combining neural network (NN) approximator with adaptive Backstepping technology. The simulation research is carried out based on the training ship "Yu long" of Dalian Maritime University as an example. The results show that the control algorithm has good adaptability, the closed-loop system has good robust performance. Copyright © 2014 IFSA Publishing, S. L.
منابع مشابه
Adaptive Fuzzy Control via Command Filtering and Backstepping for Ship Course-Keeping
With increasing marine transportation and logistics, the ship autopilot has become much more important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship coursekeeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adaptive course-k...
متن کاملAdaptive Distributed Consensus Control for a Class of Heterogeneous and Uncertain Nonlinear Multi-Agent Systems
This paper has been devoted to the design of a distributed consensus control for a class of uncertain nonlinear multi-agent systems in the strict-feedback form. The communication between the agents has been described by a directed graph. Radial-basis function neural networks have been used for the approximation of the uncertain and heterogeneous dynamics of the followers as well as the effect o...
متن کاملFuzzy-Approximator-Based Adaptive Controller Design for Ship Course-Keeping Steering in Strict-Feedback Forms
Abstract: Along with increasing marine transportation and logistics, the ship autopilot has become much important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship course-keeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adapt...
متن کاملAdaptive Approximation-Based Control for Uncertain Nonlinear Systems With Unknown Dead-Zone Using Minimal Learning Parameter Algorithm
This paper proposes an adaptive approximation-based controller for uncertain strict-feedback nonlinear systems with unknown dead-zone nonlinearity. Dead-zone constraint is represented as a combination of a linear system with a disturbance-like term. This work invokes neural networks (NNs) as a linear-in-parameter approximator to model uncertain nonlinear functions that appear in virtual and act...
متن کاملRobust Adaptive Neural Control of the Blood Glucose for Type 1 Diabetic Patients in Presence of Meals
In this paper, the blood glucose control for type 1 diabetic patients in the presence of model uncertainties and uncertain meals is considered. In order to present an efficient control approach, it is assumed that the dynamics describe the mechanism of the blood glucose regulation in type 1 diabetic patients are completely unknown. Hence, based on the universal approximation property of the rad...
متن کامل