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Designing a ship course controller by applying the adaptive backstepping method

Anna Witkowska;  Roman Śmierzchalski — 2012

International Journal of Applied Mathematics and Computer Science

The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance. A realistic...

A backstepping approach to ship course control

Anna Witkowska;  Mirosław Tomera;  Roman Smierzchalski — 2007

International Journal of Applied Mathematics and Computer Science

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...

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