Non-linear backstepping ship course controller

• Autorzy: Witkowska A. , Śmierzchalski R.
• Języki publikacji: EN

Abstrakty

EN

A ship, as an object for course control, is characterised by a nonlinear function describing the static manoeuvring characteristics. One of the methods, which can be used, for designing a non-linear course controller for ships is the backstepping method. It was used here for designing the configurations of non-linear controllers, which were then applied for ship course control. The parameters of the obtained non-linear control structures were tuned to optimise the operation of the control system. The optimisation was performed using genetic algorithms. The quality of operation of the designed control algorithms was checked in simulation tests performed on the mathematical model of the tanker completed by steering gear.

Słowa kluczowe

EN

backstepping; Lapunov function; asymptotic stability

• Wydawca: Polskie Towarzystwo Bezpieczeństwa i Niezawodności
• Czasopismo: Journal of Polish Safety and Reliability Association
• Rocznik: 2007
• Tom: Vol. 2
• Strony: 355--361
• Opis fizyczny: Bibliogr. 14 poz., rys., tab., wykr.

Twórcy

autor

Witkowska A.

• University of Technology, Gdańsk, Poland

autor

Śmierzchalski R.

• Maritime University, Gdynia, Poland

Bibliografia

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