A New Robust Adaptive Backstepping for Ship Course-Keeping Control

Hao Duo Wang; Qin Ruo Wang; Luo Yan; Xiao Ze Wu

doi:10.4028/www.scientific.net/AMM.536-537.793

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 536-537A New Robust Adaptive Backstepping for Ship...

A New Robust Adaptive Backstepping for Ship Course-Keeping Control

Abstract:

In this paper, we develop a new robust adaptive control scheme for ship steering by introducing alternative smooth function and Nussbaum function into backstepping approaches. And no requirements for the knowledge of control coefficient and the bound of unknown external disturbance, the proposed strategy implements the global stability of the ship course control and guarantees the global uniform boundedness of all signals of the resulting closed-loop system. Theoretical analysis demonstrates that tracking error asymptotically converges within an arbitrary small value pre-described by designer. Simulation results illustrate the effectiveness of the developed adaptive backstepping control law.

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Periodical:

Applied Mechanics and Materials (Volumes 536-537)

Pages:

793-797

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.536-537.793

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Online since:

April 2014

Authors:

Hao Duo Wang*, Qin Ruo Wang, Luo Yan, Xiao Ze Wu

Keywords:

Backstepping Algorithm, Course-Keeping of Ship, Parametric Uncertainty, Robust Adaptive Control

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