Genetic programming for the automatic design of. controllers for a surface ship

被引：16

作者：

Alfaro-Cid, Eva ^{[1
]}

McGookin, Euan W. ^{[2
]}

Murray-Smith, David J. ^{[2
]}

Fossen, Thor I. ^{[3
]}

机构：

[1] Inst Tecnol Informat, Valencia 46022, Spain

[2] Univ Glasgow, Glasgow G12 8QQ, Lanark, Scotland

[3] Norwegian Univ Sci & Technol, N-7491 Trondheim, Norway

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2008年 / 9卷 / 02期

关键词：

genetic programming; marine vehicle control;

D O I：

10.1109/TITS.2008.922932

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

In this paper, the implementation of,genetic programming (GP) to design a controller structure is assessed. GP is used to evolve control strategies that, given the current and desired state of the propulsion and heading dynamics of a supply ship as inputs, generate the commanded forces required to maneuver the ship. The controllers created using GP are evaluated through computer simulations and real maneuverability tests in a laboratory water basin facility. The robustness of each controller is analyzed through the simulation of environmental disturbances. In addition, GP runs in the presence of disturbances are carried out so that the different controllers obtained can be compared. The particular vessel used in this paper is a scale model of a supply ship called CyberShip II. The results obtained illustrate the benefits of using GP for the automatic design of propulsion and navigation controllers for surface ships.

引用

页码：311 / 321

页数：11

共 35 条

[1] Optimisation of the weighting functions of an H∞ controller using genetic algorithms and structured genetic algorithms [J].