Adaptive Control for Ship Steering Based on Clonal Selection Model Identification
Using clonal selection model identification, an adaptive PD control algorithm with disturbance compensation is proposed for uncertain and nonlinear system in ship steering. Actual ship with disturbance and model uncertainty, regarded as a black box, is dynamically identified as second-order linear model with disturbance terms; then, certainty equivalence principle is applied to tune the PD control parameters while the disturbance is compensated. The combination of previous elitist reservation and stochastic initialization for the initial population in clonal selection algorithm improves the optimization efficiency for dynamic problem. Simulations on the third-order nonlinear cargo vessel verify that the proposed adaptive control algorithm possesses strong robustness and improves the capability of PD controller in inhibiting stable error.
clonal selection on-line model identification disturbance compensation adaptive control ship steering
Jiangqiang Hu Renxiang Bu Jianchuan Yin Yue Wang
Navigation College, Dalian Maritime University, Dalian 116026
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2863-2868
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）