HomePage
 




 


 

ISSN 2083-6473
ISSN 2083-6481 (electronic version)
 

 

 

Editor-in-Chief

Associate Editor
Tomasz Neumann
 

Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
www http://www.transnav.eu
e-mail transnav@am.gdynia.pl
The Use of Backstepping Method to Ship Course Controller
1 Gdańsk University of Technology, Gdańsk, Poland
2 Gdynia Maritime University, Gdynia, Poland
ABSTRACT: The article systematises and perform approaches the new concept of the ship autopilot in which control rules are derived for nonlinear controllers designed with the aid of the backstepping method and used for controlling the ship's motion on its course. The objectives, approaches and problems were described. The design is very interesting has goals to create closed-loop systems with desirable stability properties in the regulation and tracking problems with a uniform asymptotic stability, rather than analyze the properties of a given system. The symulation were performed on the tanker model and were comparised in the system with PD controller.
REFERENCES
Amerongen J. (1982). Adaptive steering of ship. A model reference approach to improved manoeuvering and economical course keeping, PhD Thesis, Delft University of Technology, Netherlands.
Astrom K.J, Wittenmark B., (1989). Adaptive Control, Addison Wesley, Reading MA.
Do K.D., Jiang Z.P., Pan J. (2004). Robust adaptive path following of underactuated ships. Automatica, 40(6), 929-944.
Ezal K., Pan Z., Kokotovi? P. (2000). Locally Optimal and Robust Backstepping Design IEEE Transactions on Automatic Control 45(2), 260-271.
Fang Y., Zergeroglu E., Queiroz M.S., Dawson D.M. (2004) Global output feedback control of dynamically positioned surface vessels: an adaptive control approach, Mechatronics 14(4), 341–356
Fleming P.J., Purshouse R.C. (2002). Evolutio-nary algorithms in control systems engineering: a survey, Control Engineering Practice 10(11), 1223?1241.
Fossen T.I., Strand J.P. (1998). Nonlinear Ship Control (Tutorial Paper), In Proceedings of the IFAC Conference on Control Application in Marine Systems CAMS’98. Fukuoka, Japan. pp. 1?75.
Fossen, T. I. and J. P. Strand (1999). A Tutorial on Nonlinear Backstepping: Applications to Ship Control, Modelling, Identification and Control, MIC-20(2), 83-135.
Fossen T.I. (2002). Marine Control Systems. Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles. Marine Cybernetics, Trondheim, Norway.
Härkegard 0. (2003). Backstepping and Control Allocation with Applications to Flight Control. PhD thesis, Department of Electrical Engineering, Linköping University, SE-581 83 Linköping, Sweden.
He S., Reif K., Unbehauen R. (1998). A neural approach for control of nonlinear systems with feedback linearization, IEEE Trans. Neural Networks, 9(6), 1409?1421.
Jiang Z.-P. (2002). Global tracking control of underactuated ships by Lyapunov direct method, Automatica, 38(2), 301?309.
Kokotović P., Arcak M. (2001). Constructive nonlinear control: a historical perspective, Automatica 37(5), 637?662.
Krstic M., Kanellakopulos I., Kokotovic P.V. (1995). Nonlinear and Adaptive Control Design, John Willey&Sons Ltd., New York.
Krsti? M., Deng H. (1998) Stabilization of Nonlinear Uncertain Systems. Springer Verlag, Berlin.
Krsti? M., Tsiotras P., (1999) Inverse Optimal Stabilization of a Rigid Spacecraft, IEEE Transactions on Automatic Control, 44(5), 1042-1049.
Kuljaca O., Swamy N., Lewis F.L, Kwan C.M. (2001). Design and Implementation of Industrial Neural Network Controller Using Backstepping, Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, Florida USA, pp. 2709-2714.
Kwan C.M., Lewis F.L. (2000). Robust Backstepping Control of Nonlinear Systems Using Neural Networks, IEEE Trans. On Systems, Man and Cybernetics, Part A: Systems and Humans, 30(6), 753-766.
La Salle J. and Lefschetz S. (1961). Stability by Liapunov's direct method with applications. Academic Press, New York.
Pettersen K.Y., Nijmeijer H. (2004). Global practical stabilization and tracking for an underactuated ship – a combined averaging and backstepping approach, Modelling, Identification and Control, 20(4), 189–199.
Sepulchre R., Jankovic M., Kokotovi? P.V. (1997). Constructive Nonlinear Control, Springer Verlag, Berlin.
Skjetne R., Fossen T.I., Kokotovi? P.V. (2005). Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory, Automatica 41(2), 289 – 298.
Witkowska A., Tomera M., Śmierzchalski R.: A Backstepping Approach to Ship Course Control. The International Journal of Applied Mathematics and Computer Science, AMCS 2007, vol. 17, no 1, pp. 73-85.
Citation note:
Witkowska A., Śmierzchalski R.: The Use of Backstepping Method to Ship Course Controller. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 1, No. 3, pp. 313-317, 2007

Other publications of authors:

A. Łebkowski, R. Śmierzchalski, W. Gierusz, K. Dziedzicki

File downloaded 1000 times








Important: TransNav.eu cookie usage
The TransNav.eu website uses certain cookies. A cookie is a text-only string of information that the TransNav.EU website transfers to the cookie file of the browser on your computer. Cookies allow the TransNav.eu website to perform properly and remember your browsing history. Cookies also help a website to arrange content to match your preferred interests more quickly. Cookies alone cannot be used to identify you.
Akceptuję pliki cookies z tej strony