Article

Robust Adaptive Fuzzy Design for Ship Linear-tracking Control with Input Saturation

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A robust adaptive control approach is proposed for underactuated surface ship linear path-tracking control system based on the backstepping control method and Lyapunov stability theory. By employing T-S fuzzy system to approximate nonlinear uncertainties of the control system, the proposed scheme is developed by combining “dynamic surface control” (DSC) and “minimal learning parameter” (MLP) techniques. The substantial problems of “explosion of complexity” and “dimension curse” existed in the traditional backstepping technique are circumvented, and it is convenient to implement in applications. In addition, an auxiliary system is developed to deal with the effect of input saturation constraints. The control algorithm avoids the singularity problem of controller and guarantees the stability of the closed-loop system. The tracking error converges to an arbitrarily small neighborhood. Finally, MATLAB simulation results are given from an application case of Dalian Maritime University training ship to demonstrate the effectiveness of the proposed scheme

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Ketersediaan

Informasi Detail

Judul Seri

Science Direct

No. Panggil

ATC PO IHU r

Penerbit

Korea : E-navi., 2016

Deskripsi Fisik

8 p.

Bahasa

English

ISBN/ISSN

-

Klasifikasi

PO

Tipe Isi

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Tipe Media

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Tipe Pembawa

online resource

Edisi

-

Subjek

Underactuated surface ship
Path- tracking control
Fuzzy Control, DSC
MLP
Input Saturation

Info Detail Spesifik

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Pernyataan Tanggungjawab

Yancai HU

Versi lain/terkait

Lampiran Berkas

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