Nonlinear Backstepping Design of Ship Steering Controller:Using Unscented Kalman Filter to Estimate the Uncertain Parameters

摘要：

This paper proposes an unscented Kalman filter(UKF)based steering controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave,wind and ocean-current. By using Nomoto ship model with nonlinear maneuvering characteristics and backstepping design methodology,a nonlinear ship steering controller is designed successfully.The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters drift due to time-varying added mass matrices.MATLAB simulation shows that the presented algorithm can overcome the nonlinear specialities successfully and achieve better tracking effect.

关键词： Unscented Kalman filter Steering control Underactuated ships arameter estimation ackstepping

作者: Yan Peng Jianda Han Zhenwei Wu

作者单位: Shenyang Institute of Automation, Chinese Academy of Science Graduate School of the Chinese Academy Shenyang Institute of Automation, Chinese Academy of Science Shenyang,Liaoning Province,China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）