Ship Adaptive Track Keeping Control Based on Iterative Sliding Mode

被引:0
|
作者
Ding Kaige [1 ]
Bu Renxiang [1 ]
Qin Ke [1 ]
Li Tieshan [1 ]
机构
[1] Dalian Maritime Univ, Nav Coll, Dalian, Peoples R China
来源
2019 4TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION ENGINEERING (ICITE 2019) | 2019年
关键词
underactuated ships; straight-path following control; iterative sliding mode; self-adaptive; neural network;
D O I
10.1109/icite.2019.8880243
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The track control of underactuated ships, it is vulnerable to the influence of external factors such as wind and current. A nonlinear iterative sliding mode algorithm is proposed by using the iterative sliding mode and combining with the exponential incremental feedback, the asymptotic stability of the closed-loop system can be guaranteed without estimating external disturbances such as wind and current. By defining a kind of reinforcement learning signal with the ratio of ship angular rate to rudder angle, and using neural network to realize online adjustment of controller parameters, the controller's adaptability is improved, and the steering range and repetitive steering range are reduced. The nonlinear hydrodynamic model parameters of "YU LONG" wheel were used for MATLAB simulation. The results show that the controller is insensitive to external interference, system perturbation and strong robustness, compared with the non-adaptive iterative sliding mode, the chattering of rudder angle is obviously reduced.
引用
收藏
页码:11 / 15
页数:5
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