کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
698069 | 890392 | 2006 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Global robust adaptive path following of underactuated ships
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Global robust adaptive path following of underactuated ships Global robust adaptive path following of underactuated ships](/preview/png/698069.png)
چکیده انگلیسی
We propose a method for designing a global robust adaptive controller that forces an underactuated ship to follow a reference path under both constant and time-varying disturbances induced by waves, wind and ocean-currents. Both linear and nonlinear damping terms are included to cover both low- and high-speed applications. All nonlinear damping coefficients are assumed unknown but lie in a known compact set. The new results are derived using a choice of an appropriate body-fixed frame origin, a smooth approximation of nonsmooth damping terms, several nonlinear coordinate changes, the backstepping technique, and utilization of the ship dynamic structure. Experiments on a model ship illustrate the results.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 42, Issue 10, October 2006, Pages 1713–1722
Journal: Automatica - Volume 42, Issue 10, October 2006, Pages 1713–1722
نویسندگان
K.D. Do, J. Pan,