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2007 | 17 | 1 | 73-85
Tytuł artykułu

A backstepping approach to ship course control

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
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 nonlinear controllers, which are then applied to ship course control. The parameters of the obtained nonlinear control structures are tuned to optimise the operation of the control system. The optimisation is performed using genetic algorithms. The quality of operation of the designed control algorithms is checked in simulation tests performed on the mathematical model of a tanker. In order to obtain reference results to be used for comparison with those recorded for nonlinear controllers designed using the backstepping method, a control system with the PD controller is examined as well.
Rocznik
Tom
17
Numer
1
Strony
73-85
Opis fizyczny
Daty
wydano
2007
otrzymano
2006-01-18
poprawiono
2006-10-30
(nieznana)
2006-12-15
Twórcy
  • Electrical and Control Engineering Faculty, Gdańsk University of Technology, ul. Narutowicza 11/12, 80-952 Gdańsk, Poland
  • Marine Electrical Engineering Faculty, Gdynia Maritime University, ul. Morska 83, 81-225 Gdynia, Poland
  • Marine Electrical Engineering Faculty, Gdynia Maritime University, ul. Morska 83, 81-225 Gdynia, Poland
Bibliografia
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  • [Fossen 1999] Fossen T.I. and Strand J.P. (1999): A tutorial on nonlinear backstepping: Applications to ship control. - Modell., Identif. Control, Vol.20, No.2, pp.83-135.
  • [Fossen 2002] Fossen T.I. (2002): Marine Control Systems. Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles. - Trondheim, Norway: Marine Cybernetics.
  • [Goldberg 1989] Goldberg D.E. (1989): Genetic Algorithms in Searching, Optimisation and Machine Learning. - Reading, MA: Addison Weey.
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Typ dokumentu
Bibliografia
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