Qiang Zhang 1,2, Yancai Hu1 , Aiqin Wang1 and Na Jiang1
1Navigation College, Shandong Jiaotong University, Weihai, P.R. China
2Navigation College, Dalian Maritime University, Dalian, P.R. China
Received:
September 5, 2016
Accepted:
February 12, 2017
Publication Date:
September 1, 2017
Download Citation:
||https://doi.org/10.6180/jase.2017.20.2.03
ABSTRACT
Based on the dynamic surface control (DSC) and neural networks (NNs), an adaptive control algorithm with Nussbaum gain is proposed for the nonlinear ship course-keeping control system. This approach solves the uncertainties of the ship course-keeping control system, reduces the effect of the external disturbances, simplifies the control laws and overcomes the problem of ‘explosion of complexity’ inherent in the backstepping method. Furthermore, the Nussbaum function introduced into controller solves the problems of direction-unknown control gains, and avoids the singular problem of controller. The results of simulation show that the proposed control algorithm is effective.
Keywords:
Ship Course-keeping, Uncertain Parameters, Dynamic Surface Control, Neural Networks, Nussbaum Gain
REFERENCES
- [1] Huang, J. Q., Adaptive Control Theories and Its Applications in Ship Systems, Beijing: National Defense Industry Press, 1992.
- [2] Amerongen, J. V., “Adaptive Steering of Ships-A Model Reference Approach,” Automatica, Vol. 20, pp. 314 (1984). doi: 10.1016/0005-1098(84)90060-8
- [3] Yang, Y. S., “Neural Network Adaptive Control for Ship Automatic Steering,” International Symposium of Young Investigators on Information & Computer & Control, Beijing, China, pp. 231236 (1994).
- [4] Unar, M. A. and Murray-Smith, D. J., “Automatic Steering of Ships Using Neural Networks,” Int. J. of Adaptive Control Signal Processing, Vol. 13, pp. 203 218 (1999). doi: 10.1002/(SICI)1099-1115(199906) 13:43.0.CO;2-T
- [5] Fossen, T. I., “High Performance Ship Autopilot with Wave Filter,” Proceedings of the 10th International Ship Control Systems Symposium, Ottawa, Canada, pp. 271285 (1993).
- [6] Krstic, M., Kanellakopoulos, I. and Kokotovic, P. V., Nonlinear and Adaptive Control Design, New York: Wiley, 1995.
- [7] Du, J. L. and Guo, C., “Nonlinear Adaptive Ship Course Tracking Control Based on Backstepping and Nussbaum Gain,” American Control Conference, Boston, MA, USA., pp. 38453850 (2004).
- [8] Swaroop, D., Gerdes, J. C., Yip, P. P. and Hedrick, J. K., “Dynamic Surface Control of Nonlinear Systems ,” American Control Conference, Albuquerque, New Mexico, Vol. 5, pp. 30283034 (1997). doi: 10.1109/ ACC.1997.612013
- [9] Swaroop, D., Hedrick, J. K., Yip, P. P. and Gerdes, J. C., “Dynamic Surface Control for a Class of Nonlinear Systems,” Automatic Control, IEEE, Vol. 45, pp. 18931899 (2000). doi: 10.1109/TAC.2000.880994
- [10] Wang, D. and Huang, J., “Neural Network-based Adaptive Dynamic Surface Control for a Class of Uncertain Nonlinear Systems in Strict-feedback Form,” IEEE Trans., Vol. 16, pp. 195202 (2005). doi: 10. 1109/TNN.2004.839354
- [11] Ge, S. S. and Wang, C., “Direct Adaptive NN Control of a Class of Nonlinear Systems,” IEEE Transactions on Neural Networks, Vol. 13, pp. 214221 (2002). doi: 10.1109/72.977306
- [12] Li, T. S., Wang, X. F. and Yang, X. Y., “DSC Design of a Robust Adaptive NN Control for a Class of Nonlinear MIMO Systems,” Journal of Harbin Engineering University, Vol. 30, pp. 121125 (2009).
- [13] Zhang, T. P., Li, H. C. and Wang, Q., “Indirect Adaptive Neural Network Control Using Dynamic Surface Control,” Chinese Control Conference. Zhang Jiajie, China, pp. 756760 (2007). (in Chinese) doi: 10.1109/ CHICC.2006.4346971
- [14] Li, Y. M., Tong, S. C. and Li, T. S., “Adaptive Fuzzy Backstepping Control of Static Vary Compensator Based on State Observer,” Nonlinear Dynamics, Vol. 73, pp. 133142 (2013). doi: 10.1007/s11071-013- 0773-3
- [15] Li, T. S., Yang, Y. S., Hong, B. G. and Ren, J. S., “Robust Adaptive Tracking Control for a Class of Perturbed Uncertain Nonlinear Systems,” World Congress, Vol. 38, pp. 971976 (2005). doi: 10.3182/ 20050703-6-cz-1902.00818
- [16] Zhu, D. J., Ma, N. and Gu, X. C., “Adaptive Fuzzy Compensation Control Nonlinear Ship Course-Keeping,” Journal of Shanghai Jiaotong University, Vol. 49, pp. 250254 (2015).
