Robust adaptive control for automatic berthing of intelligent ships

被引：0
|
作者：
Xu H. [1 ]
Zhu M. [1 ]
Yu W. [1 ]
Han X. [1 ]
机构：
[1] Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2020年 / 48卷 / 03期
关键词：
Automatic berthing; Backstepping method; Intelligent ship; Navigation safety; Robust adaptive control;
D O I：
10.13245/j.hust.200305
中图分类号：
学科分类号：
摘要：
A robust adaptive control law was proposed for automatic berthing control problems of intelligent ships, in the presence of environmental disturbances and bank wall effect that lead to the reduction of control accuracy and the chattering of control outputs, which in turn would affect navigation safety. The dynamic surface control technology and backstepping method were combined to solve the problem of increasing computational complexity caused by the traditional backstepping method for derivation of virtual control. The adaptive law was designed to estimate environmental disturbances, and the robust term was introduced to compensate the disturbance of bank wall effect to the ship, respectively, in order to eliminate the chattering phenomenon of control outputs. The simulation results based on an intelligent ship model verify the effectiveness of the proposed method. © 2020, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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页码：25 / 29and40
页数：2915
相关论文
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