| ISS-based robust adaptive fuzzy algorithm for maintaining a ship＇s track |
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| 作者姓名： | LI Tie-shan YAN Shu-jia QIAO Wen-ming |
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| 作者单位： | [1]School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200030, China [2]Navigation College, Dalian Maritime University, Dalian 116026, China [3]Navigation School, Shandong Jiaotong College, Weihai 250023, China |
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| 摘 要： | This paper focuses on the problem of linear track keeping for marine surface vessels. The influence exerted by sea currents on the kinematic equation of ships is considered first. The input-to-state stability （ISS） theory used to verify the system is input-to-state stable. Combining the Nussbaum gain with backstepping techniques, a robust adaptive fuzzy algorithm is presented by employing fuzzy systems as an approximator for unknown nonlinearities in the system. It is proved that the proposed algorithm that guarantees all signals in the closed-loop system are ultimately bounded. Consequently, a ship＇s linear track-keeping control can be implemented. Simulation results using Dalian Maritime University＇s ocean-going training ship ＇YULONG＇ are presented to validate the effectiveness of the proposed algorithm.
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| 关 键 词： | ISS理论 自适应控制 模糊理论 航迹控制系统 |
| 文章编号： | 1671-9433（2007）04-0001-07 |
| 收稿时间： | 2007-04-23 |
ISS-based robust adaptive fuzzy algorithm for maintaining a ship’s track |
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| LI Tie-shan YAN Shu-jia QIAO Wen-ming.ISS-based robust adaptive fuzzy algorithm for maintaining a ship’s track[J].Journal of Marine Science and Application,2007,6(4):1-7. |
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| Authors: | Tie-shan Li Shu-jia Yan Wen-ming Qiao |
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| Institution: | (1) School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200030, China;(2) Navigation College, Dalian Maritime University, Dalian, 116026, China;(3) Navigation School, Shandong Jiaotong College, Weihai, 250023, China |
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| Abstract: | This paper focuses on the problem of linear track keeping for marine surface vessels.The influence exerted by sea currents on the kinematic equation of ships is considered first.The input-to-state stability (ISS) theory used to verify the system is input-to-state stable.Combining the Nussbaum gain with backstepping techniques, a robust adaptive fuzzy algorithm is presented by employing fuzzy systems as an approximator for unknown nonlinearities in the system.It is proved that the proposed algorithm that guarantees all signals in the closed-loop system are ultimately bounded.Consequently, a ship's linear track-keeping control can be implemented.Simulation results using Dalian Maritime University's ocean-going training ship 'YULONG' are presented to validate the effectiveness of the proposed algorithm. |
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| Keywords: | ISS theory adaptive control fuzzy system ship track-keeping |
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