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Adaptive Fuzzy Control via Command Filtering and Backstepping for Ship Course-Keeping |
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PP: 733-739 |
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Author(s) |
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Junsheng Ren,
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Abstract |
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| With increasing marine transportation and logistics, the ship autopilot has become much more important not only to lower the seamans operating intensions, but also to reduce the seamans deployment. It is still a challenge to design ship course-keeping controller because of ships uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adaptive course-keeping controller design for ship autopilot. Takagi-Sugeno (T-S) fuzzy approximation can formulate ship motions uncertainties. Therefore, the proposed controller has no need of a priori knowledge about ships system dynamics. Command filtering can bypass the iterative differential manipulations in adaptive backstepping controller for conventional ship course. The design can guarantee the ultimate uniform boundedness of the signals in closed-loop system. Finally, simulation study verifies the efficiency of the ship course-keeping design. |
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