Robust course-keeping control for ships with the prescribed transient/steady performance

被引：0
|
作者：
Tian B. [1 ]
Liu Z. [1 ]
Zheng Y. [1 ]
机构：
[1] Navigation College, Dalian Maritime University, Dalian, 116026, Liaoning Province
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2016年 / 37卷 / 05期
关键词：
Backstepping; Course-keeping; Prescribed performance; Robust control; Ship; Steady performance;
D O I：
10.11990/jheu.201507026
中图分类号：
学科分类号：
摘要：
To supplement the control design for the ship course-keeping system with the model uncertainty and external nonzero time-varying disturbances, a robust adaptive control scheme is proposed that uses the popular backstepping method, the prescribed performance function and the system-transformation method. By employing the inherent structural characteristics of marine ships, the new prescribed performance function is related to the initial error signal and its sign, which could avoid the defect that the controller requires to be resetted for the different initial error signal and its sign. Compared with the existing results, the proposed algorithm has the advantages of pre-setting the transient performance of the closed-loop system, specifically the overshoot and the rate of convergence. Numerical simulation results and theoretical analysis illustrate the effectiveness of the proposed scheme. © 2016, Editorial Department of Journal of HEU. All right reserved.
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收藏
页码：640 / 645
页数：5
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