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A Robust Design Based on the Backstepping Theory for the Linear-Course Trajectory Control of Ships

Author: ZhangZuoWen
Tutor: DuJiaZuo
School: Dalian Maritime University
Course: Control Theory and Control Engineering
Keywords: Underactuated ships A straight path Adaptive backstepping Sliding Mode Control Neural Networks
CLC: U664.82
Type: Master's thesis
Year: 2011
Downloads: 133
Quote: 1
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Abstract


With the increase of maritime transport in recent years , large-scale and high-speed ships tend to lead to the shipping density greatly increase ship voyage will be a variety of unpredictable external environment interference , these ship maneuvering problem becomes particularly complex . Ship long-distance sailing commonplace between the two turning points , in order to save time , shorten the distance and cost savings , the ship straight line tracking control is very relevant and practical ; most ships are underactuated using Itineraries relatively small control amount to achieve the steering control , thereby reducing the weight and the running cost of the ship , and improve operational efficiency , and improve the performance of the economy of operation of the ship . In summary , research carried out on the the underactuated ship straight path movement has a very significant meaning . Ship straight path movement as the object of study , the sliding mode variable structure control , adaptive control , backstepping , neural network function approximation method is introduced underactuated ship straight path tracing control . The main work of this thesis : This paper first gives a the ship straight path tracking control system of three -degree-of-freedom nonlinear mathematical model , which laid the foundation for the controller design and simulation of a straight path . Further , with unknown model parameters , as well as constant outside interference , known controller gain symbol ship straight path model , sliding mode variable structure control theory is introduced to the the ship straight path controller design process given an adaptive sliding mode flight path tracking controller . Then he studied for uncertain interference with uncertain function entry , the controller gain sign unknown ship linear motion control model , adaptive backstepping design method based on RBF neural network approximation model unknown non linear function , design an adaptive neural network controller method . Controller designed through Matlab simulation , simulation results verify that the designed controller can guarantee the signals of the closed-loop system is uniformly ultimately bounded , in order to achieve the straight track control of the ship .

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CLC: > Transportation > Waterway transport > Marine Engineering > Ship machinery > Marine Systems > Ship Steering Control System
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