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2010 | 20 | 2 | 271-280
Tytuł artykułu

Nonlinear controller design of a ship autopilot

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.
Rocznik
Tom
20
Numer
2
Strony
271-280
Opis fizyczny
Daty
wydano
2010
otrzymano
2009-07-25
poprawiono
2009-12-19
Twórcy
  • Department of Ship Automation, Gdynia Maritime University, ul. Morska 83, 81-225 Gdynia, Poland
Bibliografia
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  • Castillo-Toledo, B., Di Gennaro, S., Loukianov, A.G. and Rivera, J. (2008). Discrete time sliding mode control with application to induction motors, Automatica 44(12): 3036-3045.
  • Chen, C.-Y. Li, T.-H.S. and Yeh Y.-C. (2009). EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots, Information Sciences 179 (1-2): 180-195.
  • Clarke, D. (2003). The foundations of steering and maneouvering, Proceedings of the IFAC Conference on Manoeuvering and Control Marine Crafts, Girona, Spain, pp. 10-25.
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  • Demirtas, M. (2009). DSP-based sliding mode speed control of induction motor using neuro-genetic structure, Expert Systems with Applications 36(3): 5533-5540.
  • Etien, E., Cauet, S., Rambault, L. and Champenois, G. (2002). Control of an induction motor using sliding mode linearization, International Journal of Applied Mathematics and Computer Science 12(4): 523-532.
  • Faltinsen, O.M. (1990), Sea Loads on Ships and Offshore Structures, Cambridge University Press, Cambridge.
  • Fang, M.-C. and Luo, J.-H. (2005). The nonlinear hydrodynamic model for simulating a ship steering in waves with autopilot system, Ocean Engineering 32(11-12): 1486-1502.
  • Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley & Sons Ltd., Chichester.
  • Fossen, T.I. (2002). Marine Control Systems: Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, Trondheim.
  • Galbas, J. (1988). Synthesis of precise ship steering systems making use of thrusters, Ph.D. thesis, Technical University of Gdańsk, Gdańsk, (in Polish).
  • Gierusz, W. (2001). Simulation model of the shiphandling training boat Blue Lady, Proceedings of Control Applications in Marine Systems, Glasgow, UK.
  • Healey, A.J. and Marco, D.B. (1992). Slow speed flight control of autonomous underwater vehicles: Experimental results with NPS AUV II, Proceedings of the 2nd International Offshore and Polar Conference, San Francisco, CA, USA, pp. 523-532.
  • Healey, A.J. and Lienard, D. (1993). Multivariable sliding mode control for autonomous diving and steering of unamanned underwater vehicles, IEEE Journal of Oceanic Engineering 18(3): 327-339.
  • Hung, L. and Chung, H. (2007). Decoupled control using neural network-based sliding-mode controller for nonlinear systems, Expert Systems with Applications 32(4): 1168-1182.
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  • Lindegaard K.-P. (2003). Acceleration Feedback in Dynamic Positioning, Ph.D. thesis, Norwegian University of Science and Technology, Trondheim.
  • McGookin, E.W., Murray-Smith, D.J., Li, Y. and Fossen T.I. (2000). Ship steering control system optimisation using genetic algorithms, Control Engineering Practice 8(4): 429-443.
  • Moghaddam, J.J. and Bagheri, A. (2010). An adaptive neurofuzzy sliding mode based genetic algorithm control system for under water remotely operated vehicle, Expert Systems with Applications 37(1): 647-660.
  • Nomoto, K., Taguchi, T., Honda, K. and Hirano, S. (1957). On the steering qualities of ships, International Shipbuilding Progress 4(35): 354-370.
  • Sadati, N. and Ghadami, R. (2008). Adaptive multi-model sliding mode control of robotic manipulators using soft computing, Neurocomputing 71(13-15): 2702-2710.
  • Skjetne, R., Smogeli, O. and Fossen T.I. (2004). Modeling, identification, and adaptive maneuvering of Cybership II: A complete design with experiments, Proceedings of the IFAC Conference on Application Marine Systems, CAMS 2004, Ancona, Italy, pp. 203-208.
  • Skjetne, R. (2005). The Maneuvering Problem, Ph.D. thesis, Norwegian University of Science and Technology, Trondheim.
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  • Sveen, D.A. (2003). Robust and adaptive tracking control for synchronization with an ROV: Practical implementation on CyberShip II, M.Sc. thesis, Norwegian University of Science and Technology, Trondheim.
  • Tomera, M. and Śmierzchalski, R. (2006). Sliding controller for ship course steering, Proceedings of the 7th IFAC Conference on Manouvering and Control of Marine Craft, MCMC, Lisbon, Portugal.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv20i2p271bwm
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