Adaptive autopilot design of time-varying uncertain ships with completely unknown control coefficient

被引：112
作者：
Du, Jialu [1 ]
Guo, Chen [1 ]
Yu, Shuanghe [1 ]
Zhao, Yongsheng [1 ]
机构：
[1] Dalian Maritime Univ, Sch Automat & Elect Engn, Dalian 116026, Peoples R China
来源：
IEEE JOURNAL OF OCEANIC ENGINEERING | 2007年 / 32卷 / 02期
基金：
中国国家自然科学基金;
关键词：
adaptive; backstepping; Nussbaum gain; ship course control; time-varying parametric uncertainty;
D O I：
10.1109/JOE.2007.893684
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
This paper develops an adaptive course controller for time-varying parametric uncertain nonlinear ships with completely unknown time-varying hounded control coefficient. The proposed design method does not require any a priori knowledge of the sign of the unknown time-varying control coefficient. The designed adaptive autopilot can guarantee the regulation of the ship course to any prescribed accuracy and the global uniform ultimate boundedness of all signals in the closed-loop system. The effectiveness of the presented autopilot has been demonstrated in a simulation involving a ship of 45 m in length..
引用
收藏
页码：346 / 352
页数：7
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