Adaptive System for Steering a Ship Along the Desired Route

被引：16

作者：

Borkowski, Piotr ^{[1
]}

机构：

[1] Maritime Univ Szczecin, Sch Comp Sci, Fac Nav, Waly Chrobrego 1, PL-70500 Szczecin, Poland

来源：

MATHEMATICS | 2018年 / 6卷 / 10期

关键词：

track-keeping; automatic ship control; adaptive control system; linear quadratic regulator (LQR); least square method; TRAJECTORY TRACKING; CONTROLLER; UNCERTAINTIES; DISTURBANCE; COLLISION; VESSELS; RADAR; WATER; MODEL;

D O I：

10.3390/math6100196

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

An adaptive ship steering system along a preset track is an example of an intelligent system. An optimal linear quadratic regulator (LQR) regulator with a symmetric indicator of control quality was adopted as the control algorithm. The model identification was based on the continuous version of the least squares method. A significant part of the article presents the proof of the stability of the proposed system. The results of the calculation experiments are provided to confirm the effective and correct working of the system.

引用

页数：11

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