Iterative sliding mode control based on reinforced learning and used for path tracking of under-actuated ship

被引：0
作者：
Shen Z. [1 ]
Dai C. [1 ]
机构：
[1] School of Information Science and Technology, Dalian Maritime University, Dalian
来源：
Shen, Zhipeng (shenbert@dlmu.edu.cn) | 1600年 / Editorial Board of Journal of Harbin Engineering卷 / 38期
关键词：
Controller design; Iterative sliding mode control; Neural network; Path tracking; Reinforced learning; Self-adaptive; Surface feed-back; Under-actuated ship;
D O I：
10.11990/jheu.201512005
中图分类号：
学科分类号：
摘要：
An adaptive iterative sliding mode control method based on reinforced learning was proposed for the path tracking of a 3-DOF under-actuated ship. The method introduces a hyperbolic tangent function to design the iterative sliding mode for system states and uses a neural network to optimize the control parameters to enhance the adaptivity of the controller. The structure and parameters of the neural network were adjusted online by defining a type of control amount chattering measurement variable and reinforced learning signal, which could further inhibit the chattering of the control amount. The mathematical model of a 5446TEU container ship was used for the controller and simulation. The results show that the designed controller can manage the wind, flow, and other external disturbances effectively; this, the controller has strong robustness. Compared with the iterative sliding mode controller, the chattering of the rudder angle is obviously reduced, and the control signal of the rudder angle complies with the actual operation requirements of the ship and even more with the actual requirements of the project. © 2017, Editorial Department of Journal of HEU. All right reserved.
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页码：697 / 704
页数：7
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