Nonlinear Backstepping Ship Course Controller

被引：41

作者：

Witkowska, Anna ^{[1
]}

Smierzchalski, Roman ^{[1
]}

机构：

[1] Gdansk Univ Technol, Fac Elect Engn & Automat, Narutowicza 11-12, PL-80952 Gdansk, Poland

来源：

INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING | 2009年 / 6卷 / 03期

关键词：

Backstepping method; genetic algorithm; marine ships control; nonlinear control; tuning parameters;

D O I：

10.1007/s11633-009-0277-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A ship, as an object of course control, is characterized by a nonlinear function describing the static maneuvering characteristics. The backstepping method is one of the methods that can be used during the designing process of a nonlinear course controller for ships. The method has been used for the purpose of designing two configurations of nonlinear controllers, which were then used to control the ship course. One of the configurations took dynamic characteristic of a steering gear into account during the designing stage. The parameters of the obtained nonlinear control structures have been tuned to optimise the operation of the control system. The optimisation process has been performed by means of genetic algorithms. The quality of operation of the designed control algorithms has been checked in simulation tests performed on the mathematical model of a tanker. The results of simulation experiments have been compared with the performance of the system containing a conventional proportional-derivative (PD) controller.

引用

页码：277 / 284

页数：8

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