Nonlinear Improved Concise Backstepping Control of Course Keeping for Ships

Zhang, Qiang; Zhang, Xianku

doi:10.1109/access.2019.2896146

Cited by 33 publications

(29 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compared with the pure backstepping control, the improved algorithm proposed reserves the nonlinear item of the system and possesses a strong disturbance rejection ability and robustness to the mathematical model uncertainty. In [18], to simplify the design process of the nonlinear controller, decrease the number of undetermined parameters, improve 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. In [19], to enhance the performance of the integrator backstepping controller, a control law formed by the closedloop gain-shaping algorithm is adopted to replace the linear terms in the original control law.…”

Section: The Improvement Of Integrator Backstepping Control For Shmentioning

confidence: 99%

Application of Wireless Network Control to Course-Keeping for Ships

Rifan

Zhang

2020

IEEE Access

Self Cite

View full text Add to dashboard Cite

In view of the network security and reliability of the steering control system, redundant wired control networks are adopted in some ships. To solve the problems of redundant wired networks in ships, the paper designs a wireless network as a redundant network for a ship's control system. The paper applies wireless network control to course-keeping for ships in order to validate the effectiveness of the proposed ship wireless communication network. However, there are some problems, such as time delay and packet loss, in the wireless network control system (WiNCS). In view of the above problems, the codesign of a communication protocol and control algorithm is studied in the paper. From the aspect of communication, the design is based on the concurrent and disjoint multipath routing ZigBee network, which can ensure the effective application of the control algorithm. From the aspect of control, the design of the ship coursekeeping controller combines an improved gray model with the nonlinear robust controller based on the nonlinear decoration and integrator backstepping method, which can compensate for time delay and packet loss. In this paper, a simulation platform is designed to study the application of a wireless network control to course-keeping for ships. The experimental results also prove that the scheme is feasible and effective on a simulation platform. It is a beneficial attempt to apply the WiNCS to course-keeping for ships. INDEX TERMS Ships, course-keeping control, wireless network control system (WiNCS), codesign of communication and control, closed-loop gain shaping, backstepping, gray model.

show abstract

Section: The Improvement Of Integrator Backstepping Control For Shmentioning

confidence: 99%

Application of Wireless Network Control to Course-Keeping for Ships

Rifan

Zhang

2020

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…is input-to-state stable (ISS). Note that (12) shows that S(r) in (13) does not affect the ISS property.…”

Section: ) Kinematic Controlmentioning

confidence: 99%

“…Additional work considering the nonlinear feedback controllers from [10] is presented in [11], where a magnituderate saturation (MRS) model is added to the system and the effects are explored through model-scale experiments. Other recent work which consider the use of nonlinear feedback terms include [12] and [13], where sine and arctan functions, respectively, are employed for the purpose of 1-DOF ship heading control. In [14], an adaptive fuzzy tracking algorithm was proposed for vessel motion control to handle external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

2020

View full text Add to dashboard Cite

In this paper, combinations of linear and nonlinear feedback terms are investigated for 3 degrees-of-freedom pose and velocity control of ships. Nonlinear control algorithms that are found in the literature often have linear feedback terms, which result in nice globally exponential stability properties when assuming no actuator constraints. However, considering that all actuators have saturation constraints, such stability properties are not feasible in practice. Applying nonlinear feedback terms can be a step to handle such constraints. As a result, this paper explores nonlinear feedback terms for both the kinematic and kinetic control loops. Specifically, three controllers based on a cascaded backstepping control design are implemented and compared through simulations and model-scale experiments in an ocean basin. Stability properties and tuning rules for all the controllers are also provided. Interestingly, the use of nonlinear feedback terms gives the ability to constrain the feedback control inputs globally while simultaneously being able to change the convergence rates locally. The price to be paid is the introduction of additional tuning parameters. The three controller types are compared using performance metrics which consider both control accuracy and energy use. INDEX TERMS Ship motion control, Dynamic positioning, Cascaded backstepping control design, Nonlinear feedback terms, Tuning rules, Performance metrics, Experimental results.

show abstract

“…Another PI-type controller was designed by Dariusz in order to maintain a stable surge tank water level [11]. The nonlinear robust controller has also been widely used in many other fields; references [12][13][14] constructed a concise controller and concluded parameters for testing the strong robustness and superior control performance through the simulation test of smart autonomous surface ships. Additionally, they presented a backstepping control, which is a nonlinear controller design algorithm to design a course-keeping controller for ships, such as a nonlinear control for the steering wheel, which is also carried out in the Control System of Autonomous Vehicles.…”

Section: Introductionmentioning

confidence: 99%

Inverse Tangent Functional Nonlinear Feedback Control and Its Application to Water Tank Level Control

Zhao

Zhang

2020

Processes

Self Cite

View full text Add to dashboard Cite

This paper explores the significance and feasibility of addressing a notion that the system error of a nonlinear feedback control can be decorated by an inverse tangent function in order to attain a sound energy-efficient performance. The related mathematical model and relevant evaluation of this concept are further illustrated by demonstrating a case study about the control performance of water tank level. The rationale of robust control and theoretical algorithm of Lyapunov stability theorem are outlined to evaluate the effectiveness of nonlinear feedback with inverse tangent function in terms of improving robustness of PID (Proportional–Integral–Derivative) controller and energy-saving capability. By demonstrating five simulations of different scenarios, it ultimately proves that the modified robust PID controller by inverse tangent function meets the requirement of energy-saving capacity. Comparing with the routine PID control, the mean control input of controlling water tank level can be reduced up to 39.2% by using modified nonlinear feedback controller. This nonlinear feedback PID controller is energy efficient and concise for its convenient use, which is feasible to expand its utility to other applications.

show abstract

Nonlinear Improved Concise Backstepping Control of Course Keeping for Ships

Cited by 33 publications

References 23 publications

Application of Wireless Network Control to Course-Keeping for Ships

Application of Wireless Network Control to Course-Keeping for Ships

Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control

Inverse Tangent Functional Nonlinear Feedback Control and Its Application to Water Tank Level Control

Contact Info

Product

Resources

About