Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1713286 | Journal of Systems Engineering and Electronics | 2006 | 5 Pages |
Abstract
An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting closed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship 'YULONG' are presented to validate the effectiveness of the algorithm.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Tieshan Li, Yansheng Yang, Biguang Hong,