Robust Fin Control for Ship Roll Stabilization by Using Functional-Link Neural Networks

详细信息    查看全文

• 作者：Weilin Luo (19)
  Wenjing Lv (19)
  Zaojian Zou (20)
  
• 关键词：Surface ship ; roll reduction ; fin stabilizer ; functional ; link neural networks ; uncertainties
• 刊名：Lecture Notes in Computer Science
• 出版年：2013
• 出版时间：2013
• 年：2013
• 卷：7952
• 期：1
• 页码：238-245
• 全文大小：222KB
• 参考文献：1. Perera, L.P., Guedes Soares, C.: Pre-filtered Sliding Mode Control for Nonlinear Ship Steering Associated with Disturbances. Ocean Engineering聽51, 49鈥?2 (2012) CrossRef
  2. Carletti, C., Gasparri, A., Longhi, S., UliviVapnik, G.: Simultaneous Roll Damping and Course Keeping via Sliding Mode Control for a Marine Vessel in Seaway. In: Proceedings of the 18th IFAC World Congress, Milano, Italy (August-September 2011)
  3. Fossen, T.I.: Guidance and Control of Ocean Vehicles. Wiley, New York (1994)
  4. Do, K.D.: Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships. Journal of Marine Science and Application聽10(3), 325鈥?32 (2011) CrossRef
  5. Tanguy, H., Lebret, G., Doucy, O.: Multi-objective Optimisation of PID and H1 Fin/Rudder Roll Controllers. In: Proceedings of the 5th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC 2003), Girona, Spain, pp. 179鈥?84 (September 2003)
  6. Katebi, M.R., Grimble, M.J., Zhang, Y.: H鈭?Robust Control Design for Dynamic Ship Positioning. IEE Proceedings of Control Theory and Applications聽114(2), 110鈥?20 (2011)
  7. Rigatosa, G., Tzafestas, S.: Adaptive Fuzzy Control for the Ship Steering Problem. Mechatronics聽16(8), 479鈥?89 (2006) CrossRef
  8. Velagica, J., Vukicb, Z., Omerdic, E.: Adaptive Fuzzy Ship Autopilot for Track-keeping. Control Engineering Practice聽34, 2074鈥?085 (2007)
  9. Moreiraa, L., Fossen, T.I., Guedes Soares, C.: Path Following Control System for a Tanker Ship Model. Ocean Engineering聽16(8), 479鈥?89 (2007)
  10. Oh, S.-R., Sun, J.: Path Following of Underactuated Marine Surface Vessels Using Line-of -sight Based Model Predictive Control. Ocean Engineering聽37(2-3), 289鈥?95 (2010) CrossRef
  11. Wang, X.F., Zou, Z.J., Li, T.S., Luo, W.L.: Path Following Control of Underactuated Ships Based on Nonswitch Analytic Model Predictive Control. Journal of Control Theory and Applications聽8(4), 429鈥?34 (2010) CrossRef
  12. Alar莽茂n, F.: Internal Model Control Using Neural Network for Ship Roll Stabilization. Journal of Marine Science and Technology聽15(2), 141鈥?47 (2007)
  13. Sharma, S.K., Naeem, W., Sutton, R.: An Autopilot Based on a local Control Network Design for an Unmanned Surface Vehicle. The Journal of Navigation聽65, 281鈥?01 (2012) CrossRef
  14. Taylan, M.: The Effect of Nonlinear Damping and Restoring in Ship Roll. Ocean Engineering聽27, 921鈥?32 (2000) CrossRef
  15. Yang, Y., Jiang, B.: Variable Structure Robust Fin Control for Ship Roll Stabilization with Actuator System. In: Proceeding of the 2004 American Control Conference, Boston, Massachusetts, USA, pp. 5212鈥?217 (2004)
  16. Ishii, C., Shen, T.L., Qu, Z.H.: Lyapunov Recursive Design of Robust Adaptive Tracking Control with L2-gain Performance for Electrically-driven Robot Manipulators. Int. J. Con.聽74(8), 811鈥?28 (2001) CrossRef
  17. Kwan, C., Lewis, F.L., Dawson, D.M.: Robust Neural-network Control of Rigid-link Electrically Driven Robots. IEEE Trans. Neu. Net.聽9(4), 581鈥?88 (1998) CrossRef
  
• 作者单位：Weilin Luo (19)
  Wenjing Lv (19)
  Zaojian Zou (20)
  
  19. College of Mechanical Engineering and Automation, Fuzhou University, Fujian, 350108, China
  20. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
  

文摘

To reduce the roll of a surface ship, a robust fin controller based on functional-link neural networks is proposed. The plant consists of the ship roll dynamics and that of the fin actuators. Modeling errors and the environmental disturbance induced by waves are considered in the cascaded roll system, which are identified by the neural networks. Lyapunov function is employed in the controller design, which guarantees the stability of the fin stabilizer. Numerical simulation demonstrates the good performance of the roll reduction based on the controller proposed.