ADAPTIVE SELF-REGULATION PID CONTROL OF COURSE-KEEPING FOR SHIPS

被引：18
|
作者：
Zhang, Qiang [1 ]
Ding, Zhongyu [1 ]
Zhang, Meijuan [1 ]
机构：
[1] Shandong Jiaotong Univ, Hexinglu 1508, Weihai 264209, Peoples R China
来源：
POLISH MARITIME RESEARCH | 2020年 / 27卷 / 01期
关键词：
ships; course-keeping control; self-regulation PID; adaptive control; Lyapunov;
D O I：
10.2478/pomr-2020-0004
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：
To solve the nonlinear control problems of the unknown time-varying environmental disturbances and parametric uncertainties for ship course-keeping control, this paper presents an adaptive self-regulation PID (APID) scheme which can ensure the boundedness of all signals in the ship course-keeping control system by using the Lyapunov direct method. Compared with the traditional PID control scheme, the APID control scheme not only is independent of the model parameters and the unknown input, but also can regulate the gain of PID adaptively and resist time-varying disturbances well. Simulation results illustrate the effectiveness and the robustness of the proposed control scheme.
引用
收藏
页码：39 / 45
页数：7
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