Command-filtered Backstepping Control for Stabilization of Ship Rolling Based on Nonlinear Disturbance Observer

被引：0

作者：

Jin, Zhongjia ^{[1
,2
]}

Liu, Sheng ^{[1
]}

Zhang, Longhui ^{[2
]}

Lan, Bo ^{[2
]}

Qin, Hairui ^{[3
]}

机构：

[1] Harbin Engineering University, Harbin,150001, China

[2] China Ship Scientific Research Center, Wuxi,214082, China

[3] Shanghai Oriental Maritime Engineering Technology Co., Ltd., Shanghai,200011, China

来源：

Ship Building of China | 2019年 / 60卷 / 03期

关键词：

Back-stepping controls - Backstepping controller - Command-filtered - Dynamic performance - Fin stabilizers - Nonlinear disturbance observer - Nonlinear ship rolling - Proportional-derivative controllers;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

Command-filtered backstepping control (CBC) based on nonlinear disturbance observer (NDO) is designed to deal with stabilization of nonlinear ship rolling in the rough sea. A dynamic model of ship rolling stabilization is presented in dimensionless form, with wave disturbance modeled by using power spectrum weighted averaging method. The proposed controller can guarantee the stabilization of the whole system. Simulation results show that the control strategy can effectively decrease the rolling motion under random wave disturbances. The proposed controller has more excellent dynamic performance than traditional proportional-derivative (PD) controller and the command-filtered backstepping controller. © 2019, Editorial Office of Ship Building of China. All right reserved.

引用

页码：121 / 130