DETERMINING ROBUST PARAMETERS IN STABILIZING SET OF BACKSTEPPING BASED NONLINEAR CONTROLLER FOR SHIP COURSE KEEPING

被引：4

作者：

Zhang, X. K. ^{[1
]}

Zhang, G. Q. ^{[1
]}

机构：

[1] Dalian Maritime Univ, Nav Coll, Dalian, Liaoning, Peoples R China

来源：

INTERNATIONAL JOURNAL OF MARITIME ENGINEERING | 2016年 / 158卷

基金：

中国国家自然科学基金;

关键词：

Asymptotic stability - Backstepping - Ships;

D O I：

10.3940/rina.ijme.2016.a3.357tn

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In order to solve the problem that backstepping method cannot effectively guarantee the robust performance of the closed-loop system, a novel method of determining parameter is developed in this note. Based on the ship manoeuvring empirical knowledge and the closed-loop shaping theory, the derived parameters belong to a reduced robust group in the original stabilizing set. The uniformly asymptotic stability is achieved theoretically. The training vessel "Yulong" and the tanker "Daqing232" are selected as the plants in the simulation experiment. And the simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

引用

页码：A269 / A273

页数：5

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