# A backstepping approach to ship course control

Anna Witkowska; Mirosław Tomera; Roman Smierzchalski

International Journal of Applied Mathematics and Computer Science (2007)

- Volume: 17, Issue: 1, page 73-85
- ISSN: 1641-876X

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topWitkowska, Anna, Tomera, Mirosław, and Smierzchalski, Roman. "A backstepping approach to ship course control." International Journal of Applied Mathematics and Computer Science 17.1 (2007): 73-85. <http://eudml.org/doc/207823>.

@article{Witkowska2007,

abstract = {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.},

author = {Witkowska, Anna, Tomera, Mirosław, Smierzchalski, Roman},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {genetic algorithms; backstepping; ship control; nonlinear control; Lyapunov function},

language = {eng},

number = {1},

pages = {73-85},

title = {A backstepping approach to ship course control},

url = {http://eudml.org/doc/207823},

volume = {17},

year = {2007},

}

TY - JOUR

AU - Witkowska, Anna

AU - Tomera, Mirosław

AU - Smierzchalski, Roman

TI - A backstepping approach to ship course control

JO - International Journal of Applied Mathematics and Computer Science

PY - 2007

VL - 17

IS - 1

SP - 73

EP - 85

AB - 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.

LA - eng

KW - genetic algorithms; backstepping; ship control; nonlinear control; Lyapunov function

UR - http://eudml.org/doc/207823

ER -

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