Backstepping based integral sliding mode control with neural network for ship steering control

摘要：

　　An integral sliding mode controller with neural network was investigated for ship navigation,which realizes the accurate and stable tracking of the ship in the steering process,on the basis of backstepping method.First of all,an integrator sliding surface were designed with the sliding mode variable structure control technology.Secondly,radial basis function neural network was applied to approximate the system nonlinear function and uncertain parameters.Furthermore,a nonlinear damping law was introduced to overcome the bounded outside interference.Finally,on the basis of the above,the system control law was deduced by using the backstepping method.The simulation results show that the neural network can accurately approximate the nonlinear function and uncertain parameters of the ship,and the controller output is smooth and the heading output is not sensitive to perturbation of parameters and external disturbance,and the controller has strong robustness.

作者: Renqiang Wang Hua Deng Keyin Miao Yue Zhao Jiabao Du

作者单位: Navigation College,Jiangsu Maritime Institute,Nanjing 211170,PR China

会议类型: 国际会议

会议名称: 2017第三届机械、电子和信息技术工程国际会议(ICMITE 2017)

会议地点: 成都

会议语种:英文

页码: 1-4

在线出版日期: 2017-12-16（万方平台首次上网日期，不代表论文的发表时间）