Adaptive back-stepping control on container ships for path following

Zhao, Yang; Dong, Lili

doi:10.23919/jsee.2020.000053

Cited by 8 publications

(3 citation statements)

References 7 publications

(9 reference statements)

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“…To compensate for the disturbances caused by environmental factors, control algorithms, such as adaptive PID [62], adaptive MPC [63][64][65][66], and adaptive dynamic surface control [67,68], have been gradually applied to ship control. With the development of modern control theory, intelligent algorithms, such as sliding mode control (SMC) [69], backstepping [70][71][72][73][74][75], fuzzy control [76], and neural network [77][78][79][80], are also widely adopted in the field of ship control.…”

Section: Motion Control Algorithmmentioning

confidence: 99%

“…Table 7 summarizes the characteristics of the ship behavior using the control algorithm. T: 0.7603 m [67] 163 s T: 81.7 [69] T: 1.1 × 10 3 [70] 200 s 0 [71] 48 s 0 [72] 20 s 0 [73] H: 0.4805 m; V: 0.4784 m [74] 20 s arbitrarily small error [75] 10 s [76] 2.27 • [77] T: <1 m [78] H: 1.11 × 10 3 ; V: 0.93 × 10 3 [80] 0.39 • Abbreviation: L: line; C: curve; H: horizontal direction; V: vertical direction; T: total value without direction specification.…”

Section: Motion Control Algorithmmentioning

confidence: 99%

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Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Tang

Mou

Chen

et al. 2022

JMSE

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Through the continuous development of intellectualization, considering the lifecycle of ships, the future of a waterborne traffic system is bound to be a mixed scenario where intelligent ships of different autonomy levels co-exist, i.e., mixed waterborne traffic. According to the three modules of ships’ perception, decision-making, and execution, the roles of humans and machines under different autonomy levels are analyzed. This paper analyzes and summarizes the intelligent algorithms related to the three modules proposed in the last five years. Starting from the characteristics of the algorithms, the behavior characteristics of ships with different autonomous levels are analyzed. The results show that in terms of information perception, relying on the information perception techniques and risk analysis methods, the ship situation can be judged, and the collision risk is evaluated. The risk can be expressed in two forms, being graphical and numerical. The graphical images intuitively present the risk level, while the numerical results are easier to apply into the control link of ships. In the future, it could be considered to establish a risk perception system with digital and visual integration, which will be more efficient and accurate in risk identification. With respect to intelligent decision-making, currently, unmanned ships mostly use intelligent algorithms to make decisions and tend to achieve both safe and efficient collision avoidance goals in a high-complexity manner. Finally, regarding execution, the advanced power control devices could improve the ship’s maneuverability, and the motion control algorithms help to achieve the real-time control of the ship’s motion state, so as to further improve the speed and accuracy of ship motion control. With the upgrading of the autonomy level, the ship’s behavior develops in a safer, more efficient, and more environment-friendly manner.

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Section: Motion Control Algorithmmentioning

confidence: 99%

Section: Motion Control Algorithmmentioning

confidence: 99%

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Tang

Mou

Chen

et al. 2022

JMSE

View full text Add to dashboard Cite

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“…Hence, nonlinear control law design must be considered. 7 To date, various nonlinear control methods have been applied to NSHV attitude models, such as back stepping, 8,9 and sliding mode control. 10,11 However, in these techniques, virtual control laws are necessary intermediate processes, increasing design complexity.…”

Section: Introductionmentioning

confidence: 99%

Suboptimal attitude tracking control law and eigenvalue analysis for a near-space hypersonic vehicle based on Koopman operator and stable manifold method

Wang

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

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This paper proposes a novel strategy to design a suboptimal attitude tracking control law for a near-space hypersonic vehicle (NSHV) based on the Koopman operator and stable manifold theory. The nonlinear vector field of the NSHV attitude model is locally Lipschitz continuous and can be approximated by a high-dimensional linear system over a compact set. Linear and nonlinear parts of the attitude dynamics are determined based on this system. Subsequently, the stable manifold theory is applied to determine the unconstrained approximated optimal control law that is used to further consider the control input constraints of the NSHV attitude model. The suboptimality of the control law is analyzed, and the local exponential stability of the closed-loop system with input constraints is proven. Furthermore, the eigenvalues for the closed-loop nonlinear attitude error dynamics are analyzed. After the control input saturation, the nonlinear closed-loop error dynamics of the NSHV can be approximated by a high-dimensional linear system with a minimal dimension. The eigenvalues of this linear system indicate the stability and time response characteristics of the attitude error dynamics of the NSHV. The numerical simulation results demonstrate the effectiveness and suboptimality of the proposed attitude tracking control law and workflow of the eigenvalue analysis.

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