Course Control of Underactuated Ship Based on Nonlinear Robust Neural Network Backstepping Method

Yuan, Junjia; Meng, Hao; Zhu, Qidan; Zhang, Jiajia

doi:10.1155/2016/3013280

Cited by 12 publications

(2 citation statements)

References 19 publications

(20 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…backstepping method for determining the parameters of the unknown part of ideal virtual backstepping control in [6], then the Lyapunov stability theory was employed to prove the uniform stability for the convergence of course tracking errors. An optimal backstepping controller using firefly optimization algorithm and disturbance observer was proposed by Muhammad and Mou for the ship trajectory tracking [7].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Improved Concise Backstepping Control of Course Keeping for Ships

Zhang

2019

IEEE Access

View full text Add to dashboard Cite

The backstepping control is a kind of nonlinear controller design algorithm. To simplify the nonlinear controller design process, decrease the number of undetermined parameters, improve the robustness, and reduce the energy consumption of the course-keeping controller for ships, an improved concise design method is proposed by introducing an arctan nonlinear function passed through by course error signal under the backstepping design framework, while the design process of the controller is simplified to only one step. The simulation results indicate that, compared with the backstepping-based controller, the maximum response performance (quantified by the mean absolute error) under the proposed controller increases by 57.8%, the maximum energy cost performance (quantified by the mean integral absolute) reduces by 28.6% and the maximum smoothness performance (quantified by the mean total variation) reduces by 44.3% with the strong ability of disturbances rejection. The algorithm given in the note has advantages of the simple design process, strong robustness, and low energy consumption. INDEX TERMS Ships, course-keeping control, nonlinear feedback, backstepping, arctan function.

show abstract

Section: Introductionmentioning

confidence: 99%

Nonlinear Improved Concise Backstepping Control of Course Keeping for Ships

Zhang

2019

IEEE Access

View full text Add to dashboard Cite

show abstract

“…In order to achieve better control effect, it is very important to get the accurate information about the changing parameters, which is very difficult in practical applications. In Yuan et al (2016), the neural networks control with adaptive updated weight values are introduced to estimate the unknown parameters of the constructed Lyapunov function in backstepping control. This method overcomes the problems faced in Witkowska et al (2007), and the effectiveness of achieving course tracking of USV is verified via simulation.…”

Section: Introductionmentioning

confidence: 99%

Robust H∞ control for nonlinear course system of unmanned surface vessel with polytopic uncertainty based on sum of squares

Huang

Zhenyi

Huang

et al. 2020

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

In this paper, the nonlinear robust [Formula: see text] control is investigated for nonlinear course control systems of unmanned surface vessel (USV) with uncertain parameters and external disturbance. Firstly, we suppose that the part or all of the system parameters are unknown but within some ranges, due to the effect of different conditions such as the loading of ship. Then, the course system is modeled as a polynomial one with time invariant polytopic uncertainty. With the aid of parameter dependent Lyapunov function method and positive polynomial theory, the sufficient conditions are given for stability and stabilization with [Formula: see text] performance. These conditions are formulated in terms of parameter-dependent nonlinear matrix inequalities which can be verified by semidefinite programming relaxations based on the sum of squares technique. Finally, simulation results show the effectiveness of the approach.

show abstract

Generalized fuzzy hyperbolic model based ship course system control in the presence of complex noise

Chen,

Shan,

et al. 2024

Journal of the Franklin Institute

View full text Add to dashboard Cite

Course Control of Underactuated Ship Based on Nonlinear Robust Neural Network Backstepping Method

Cited by 12 publications

References 19 publications

Nonlinear Improved Concise Backstepping Control of Course Keeping for Ships

Nonlinear Improved Concise Backstepping Control of Course Keeping for Ships

Robust H∞ control for nonlinear course system of unmanned surface vessel with polytopic uncertainty based on sum of squares

Generalized fuzzy hyperbolic model based ship course system control in the presence of complex noise

Contact Info

Product

Resources

About