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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Citations in EuDML Documents
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- Fei Yan, Mahjoub Dridi, Abdellah El Moudni, An autonomous vehicle sequencing problem at intersections: A genetic algorithm approach
- Shaoji Fang, Mogens Blanke, Fault monitoring and fault recovery control for position-moored vessels
- Stanisław Bańka, Paweł Dworak, Krzysztof Jaroszewski, Linear adaptive structure for control of a nonlinear MIMO dynamic plant
- Józef Lisowski, Sensitivity of computer support game algorithms of safe ship control
- Stanisław Bańka, Paweł Dworak, Krzysztof Jaroszewski, Design of a multivariable neural controller for control of a nonlinear MIMO plant
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