Adaptive robust dissipative designs on straight path control for underactuated ships

被引：3

作者：

Li Tieshan Yang Yansheng Hong Biguang Navigation Coll Dalian Maritime Univ Dalian P R China ^{[116026
]}

机构：

来源：

Journal of Systems Engineering and Electronics | 2006年 / 01期

关键词：

underactuated ship; straight path control; nonlinear system; adaptive backstepping design; robust control;

D O I：

暂无

中图分类号：

TP273.2 [];

学科分类号：

080201 ; 0835 ;

摘要：

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.

引用

页码：177 / 181

页数：5