Adaptive robust dissipative designs on straight path control for underactuated ships

作     者：Li Tieshan Yang Yansheng Hong Biguang 

作者机构：Navigation Coll. Dalian Maritime Univ. Dalian 116026 P. R. China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2006年第17卷第1期

页      面：177-181页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：ThisprojectwassupportedbytheDoctoralProgramofHigherEducation(20020151005)andtheNationalNaturalScienceFoundationofChina(60474014) 

主　　题：underactuated ship straight path control nonlinear system adaptive backstepping design robust control. 

摘      要：An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting dosed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG＇ are presented to validate the effectiveness of the algorithm.