Genetic algorithms optimisation of decoupled Sliding Mode controllers: simulated and real results

被引：32

作者：

Alfaro-Cid, E

McGookin, EW

Murray-Smith, DJ

Fossen, TI

机构：

[1] Univ Glasgow, Dept Elect & Elect Engn, Glasgow G12 8LT, Lanark, Scotland

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

CONTROL ENGINEERING PRACTICE | 2005年 / 13卷 / 06期

关键词：

genetic algorithms; sliding mode; nonlinear control; marine application;

D O I：

10.1016/j.conengprac.2004.07.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Two decoupled Sliding Mode control configurations have been designed for the navigation and propulsion systems of CyberShip II, a scale model of an oil platform supply ship. These control structures have parameters that need to be tuned to improve their performance. These parameters have been optimised using Genetic Algorithms. The performance of these controllers has been analysed through computer-generated simulations based on a non-linear hydrodynamic model of CyberShip II The robustness has been evaluated through simulation in the presence of environmental disturbances. Subsequently, the optimised controllers have been tested in the real plant and the results are shown. (c) 2004 Elsevier Ltd. All rights reserved.

引用

页码：739 / 748

页数：10

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