Displaying similar documents to “A backstepping approach to ship course control”

Designing a ship course controller by applying the adaptive backstepping method

Anna Witkowska, Roman Śmierzchalski (2012)

International Journal of Applied Mathematics and Computer Science

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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....

Supervisory predictive control and on-line set-point optimization

Piotr Tatjewski (2010)

International Journal of Applied Mathematics and Computer Science

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The subject of this paper is to discuss selected effective known and novel structures for advanced process control and optimization. The role and techniques of model-based predictive control (MPC) in a supervisory (advanced) control layer are first shortly discussed. The emphasis is put on algorithm efficiency for nonlinear processes and on treating uncertainty in process models, with two solutions presented: the structure of nonlinear prediction and successive linearizations for nonlinear...

Control of an induction motor using sliding mode linearization

Erik Etien, Sébastien Cauet, Laurent Rambault, Gérard Champenois (2002)

International Journal of Applied Mathematics and Computer Science

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Nonlinear control of the squirrel induction motor is designed using sliding mode theory. The developed approach leads to the design of a sliding mode controller in order to linearize the behaviour of an induction motor. The second problem described in the paper is decoupling between two physical outputs: the rotor speed and the rotor flux modulus. The sliding mode tools allow us to separate the control from these two outputs. To take account of parametric variations, a model-based approach...

Tracking control algorithms for a laboratory aerodynamical system

Przemysław Gorczyca, Krystyn Hajduk (2004)

International Journal of Applied Mathematics and Computer Science

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The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated IO board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental...

Estimation of the output deviation norm for uncertain, discrete-time nonlinear systems in a state dependent form

Przemysław Orłowski (2007)

International Journal of Applied Mathematics and Computer Science

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Numerical evaluation of the optimal nonlinear robust control requires estimating the impact of parameter uncertainties on the system output. The main goal of the paper is to propose a method for estimating the norm of an output trajectory deviation from the nominal trajectory for nonlinear uncertain, discrete-time systems. The measure of the deviation allows us to evaluate the robustness of any designed controller. The first part of the paper concerns uncertainty modelling for nonlinear...

Application of a second order VSC to nonlinear systems in multi-input parametric-pure-feedback form

Antonella Ferrara, Luisa Giacomini (2000)

Kybernetika

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The use of a multi-input control design procedure for uncertain nonlinear systems expressible in multi-input parametric-pure feedback form to determine the control law for a class of mechanical systems is described in this paper. The proposed procedure, based on the well-known backstepping design technique, relies on the possibility of extending to multi-input uncertain systems a second order sliding mode control approach recently developed, thus reducing the computational load, as well...