Backstepping Adaptive Tracking Fuzzy Control for Ship Course Based on Compensated Tracking Errors
Ship motion is featured by nonlinearity, uncertainty and etc. This study addresses a adaptive fuzzy controller design for ship steering in the framework of uncertain strict-feedback nonlinear system. Lyapunov candidate function is formulated based on compensated tracking errors. Therefore, iterative differential manipulations are circumvented in conventional ship course adaptive backstepping controller. Takagi-Sugeno (T-S) fuzzy system is utilized to approximate ship motion’s uncertain nonlinear part. And the proposed controller needs no a priori knowledge about ship’s system dynamics. Only two adaptive laws learn the system’s unknown parameters online. The design can guarantee the ultimate uniform boundedness of the signals in closed-loop system. Simulation researches take ship Yulong as an example. Its aim is to make ship course track the reference model’s output. The results demonstrate the controller’s effectiveness.
adaptive control nonlinear system ship course T-S fuzzy system compensated tracking error
REN Junsheng ZHANG Xianku
Laboratory of Marine Simulation and Control, Dalian Maritime University, Liaoning 116026, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
3464-3469
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）