Nonlinear backstepping ship course controller

Witkowska, Anna; Śmierzchalski, Roman

doi:10.1007/s11633-009-0277-2

Cited by 44 publications

(24 citation statements)

References 10 publications

(9 reference statements)

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“…Our results are a continuation of studies initiated earlier (Witkowska et al, 2007;Witkowska and Smierzchalski, 2009).…”

Section: Introductionsupporting

confidence: 87%

“…When designing the control law, we assume that we have precise information on the object, i.e., we consider the vector of parameters θ and the parameter c to be known in the adopted ship model. Then the ship course control law can be derived using the classical backstepping method, as was discussed in detail by Witkowska et al (2007), as well as Witkowska and Smierzchalski (2009).…”

Section: Adaptive Course Controllermentioning

confidence: 99%

“…For the variables and stabilizing functions defined as above, the derivatives of the components of the vector z take the following form (Witkowska et al, 2007;Witkowska and Smierzchalski, 2009):…”

Section: Adaptive Course Controllermentioning

confidence: 99%

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Designing a ship course controller by applying the adaptive backstepping method

Witkowska¹,

Śmierzchalski²

2012

International Journal of Applied Mathematics and Computer Science

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The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance. A realistic full-scale simulation model of the B-481 type vessel including wave and wind effects was applied to simulate the control algorithm by using time domain analysis.

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“…Our results are a continuation of studies initiated earlier (Witkowska et al, 2007;Witkowska and Smierzchalski, 2009).…”

Section: Introductionsupporting

confidence: 87%

Section: Adaptive Course Controllermentioning

confidence: 99%

See 1 more Smart Citation

Designing a ship course controller by applying the adaptive backstepping method

Witkowska¹,

Śmierzchalski²

2012

International Journal of Applied Mathematics and Computer Science

Self Cite

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“…Advanced nonlinear control methodologies with nonlinear objectives have been proposed, and the nonlinear compensation approaches have been proven to be effective in both track-keeping and course-changing maneuvers of marine vessels [9]. These nonlinear control methods include back-stepping schemes [10,11], state feedbacks [12,13], output feedbacks [14,15], etc. However, many of these nonlinear controllers belong to a model-based technique.…”

Section: Introductionmentioning

confidence: 99%

Robust global sliding model control for water-hull-propulsion unit interaction systems - Part 1: System boundary identification

Yan

Qin

et al. 2015

Teh. vjesn.

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Original scientific paper Unexpected severe hull deformation caused by the wave loads would significantly influence the dynamical behaviours of the propulsion system in large scale ships, resulting in degradation of the ship control performance. A new global sliding model control (GSMC) for marine water-hull-propulsion unit systems is proposed to obtain more accurate control performance in this paper. The GSMC was firstly employed to establish the marine propulsion control model with nonlinear uncertainties. In the GSMC model, the saturation function method is applied to eliminate chattering on the sliding surface. Then the Lyapunov stability criterion is adopted to confirm the stability of the control system. Following, for the first time, the boundary problem of the nonlinear model uncertainties were investigated quantitatively. The bounded nonlinear model uncertainties required in the proposed GSMC model, involving engine torque loss / variations, power transfer for various load conditions and shaft rotational speeds, were derived based on the experiments carried out on a marine shaft-line test-bed of the integrated propulsion system as well as a sea trial implemented for a running bulk carrier. An upper boundary of 1,85 % for the model uncertainty has been obtained, which would be introduced into the GSMC for the integrated marine propulsion system to derive the total control law realising the robust control of the system.Keywords: global sliding model control; nonlinear control model; marine propulsion system; uncertainties in marine propulsion system; water-hullprolusion unit interactions; Upravljanje izdržljivim globalnim kliznim modelom za interakcijske sustave voda-trup-pogonska jedinica -Dio 1: Prepoznavanje granice sustavaIzvorni znanstveni članak Nepredviđene jake deformacije trupa uzrokovane težinom valova mogle bi značajno utjecati na dinamičko ponašanje pogonskog sustava velikih brodova, rezultirajući slabljenjem upravljačke funkcije broda. U ovom se radu predlaže upravljanje novim globalnim kliznim modelom (GSMC) za brodske sustave voda-trup-pogonska jedinica u svrhu poboljšanja upravljačkih performansi. Taj GSMC najprije je primijenjen u razvijanju modela za upravljanje brodskim pogonom s nelinearnim nesigurnostima. U GSMC modelu primijenjena je metoda funkcije zasićenja za isključenje podrhtavanja na kliznoj površini. Zatim je pomoću Lyapunova kriterija stabilnosti potvrđena stabilnost upravljačkog sustava. Po prvi puta, granični problem nesigurnosti nelinearnog modela kvantitativno je istražen. Nesigurnosti graničnog nelinearnog modela potrebne u predloženom GSMC modelu, uključujući gubitak /varijacije zakretnog momenta motora, prijenos energije za različite uvjete opterećenja i brzine rotacije osovine, dobivene su na temelju eksperimenata provedenih na liniji brodski osovinski vod -probni stol integriranog pogonskog sustava kao i pokusne plovidbe na moru broda za prijevoz rasutog tereta. Postignuta je gornja granica od 1,85 % za nesigurnost modela, i ona bi se trebala unijeti u GSMC za integr...

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“…On the other hand, different nonlinear methods [1] have been presented for course-keeping autopilots design such as state feedback linearization [7], nonlinear backstepping [8], [9], sliding mode control [10], output feedback [11], H ∞ -control [12], particle swarm optimization [13], genetic algorithms [10], fuzzy logic methods [14],... etc. For most of these type of applications, nonlinear manoeuvring models in 1 degree of freedom (DOF) are considered, see [15] or [16] as example, still in these contributions, the coupling existing between the various variables is obviously not taken into account.…”

Section: Introductionmentioning

confidence: 99%