کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5004461 1461199 2015 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning
چکیده انگلیسی


- A novel DVS guidance principle is developed for underactuated ships, considering the marine practice.
- For path-following control, the operable input variables δ and n is attended.
- The robust neural damping technique is first proposed with the burden-some superiority.

Around the waypoint-based path-following control for marine ships, a novel dynamic virtual ship (DVS) guidance principle is developed to implement the assumption “the reference path is generated using a virtual ship”, which is critical for applying the current theoretical studies in practice. Taking two steerable variables as control inputs, the robust adaptive scheme is proposed by virtue of the robust neural damping and dynamic surface control (DSC) techniques. The derived controller is with the advantages of concise structure and being easy-to-implement for its burdensome superiority. Furthermore, the low frequency learning method improves the applicability of the algorithm. Finally, the comparison experiments with the line-of-sight (LOS) based fuzzy scheme are presented to demonstrate the effectiveness of our results.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 56, May 2015, Pages 75-85
نویسندگان
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