Nonlinear Backstepping Ship Course Controller

查看全文 作　　者：Anna Witkowska [1]Roman;Smierzchalski [1]Gdansk

机构地区：[1]University of Technology, Faculty of Electrical Engineering and Automatic, Narutowicza 11/12

出　　处：《International Journal of Automation and computing》索引2009年第6卷第3期,共8页

基　　金：supported by Polish Ministry of Science and Higher Education (No. N514 015 32/1712) 摘　　要：A ship, as an object of course control, is characterized by a nonlinear function describing the static maneuvering charac- teristics. The backstepping method is one of the methods that can be used during the designing process of a nonlinear course controller for ships. The method has been used for the purpose of designing two configurations of nonlinear controllers, which were then used to control the ship course. One of the configurations took dynamic characteristic of a steering gear into account during the designing stage. The parameters of the obtained nonlinear control structures have been tuned to optimise the operation of the control system. The optimisation process has been performed by means of genetic algorithms. The quality of operation of the designed control algorithms has been checked in simulation tests performed on the mathematical model of a tanker. The results of simulation experiments have been compared with the performance of the system containing a conventional proportional-derivative (PD) controller. 关键词：非线性控制器船舶航向优化控制系统逆推设计过程控制对象操纵特性动态特性

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Nonlinear Backstepping Ship Course Controller

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