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Author Jiabao, Du ♦ Renqiang, Wanga ♦ Yue, Zhao ♦ Keyin, Miao ♦ Hua, Deng
Source Directory of Open Access Journals (DOAJ)
Content type Text
Publisher EDP Sciences
File Format PDF
Date Created 2017-12-07
Copyright Year ©2017
Language English ♦ French
Subject Domain (in LCC) TA1-2040
Subject Keyword Engineering (General) ♦ Technology ♦ Civil engineering (General)
Abstract An integral sliding mode controller with neural network was investigated for ship navigation, which realizes the accurate and stable tracking of the ship in the steering process, on the basis of backstepping method. First of all, an integrator sliding surface were designed with the sliding mode variable structure control technology. Secondly, radial basis function neural network was applied to approximate the system nonlinear function and uncertain parameters. Furthermore, a nonlinear damping law was introduced to overcome the bounded outside interference. Finally, on the basis of the above, the system control law was deduced by using the backstepping method. The simulation results show that the neural network can accurately approximate the nonlinear function and uncertain parameters of the ship, and the controller output is smooth and the heading output is not sensitive to perturbation of parameters and external disturbance, and the controller has strong robustness.
ISSN 2261236X
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2017-01-01
e-ISSN 2261236X
Journal MATEC Web of Conferences
Volume Number 139
Starting Page 00141

Source: Directory of Open Access Journals (DOAJ)