Autor: Smierzchalski, R. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Designing a ship course controller by applying the adaptive backstepping method
Autorzy:: Witkowska, A.
Śmierzchalski, R.
Powiązania:: https://bibliotekanauki.pl/articles/331255.pdf
Data publikacji:: 2012
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: autopilot
sterowanie adaptacyjne
sterowanie nieliniowe
algorytm genetyczny
adaptive control
nonlinear control
backstepping
genetic algorithms
Opis:: The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance. A realistic full-scale simulation model of the B-481 type vessel including wave and wind effects was applied to simulate the control algorithm by using time domain analysis.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2012, 22, 4; 985-997
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Adaptive backstepping tracking control for an over-actuated DP marine vessel with inertia uncertainties
Autorzy:: Witkowska, A.
Śmierzchalski, R.
Powiązania:: https://bibliotekanauki.pl/articles/331460.pdf
Data publikacji:: 2018
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: over actuated control
adaptive control
Lyapunov function
control allocation
MIMO system
sterowanie adaptacyjne
funkcja Lapunowa
system MIMO
Opis:: Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel position and heading. Forces and torque computed from the adaptive control law are allocated to individual thrusters by employing the quadratic programming method in combination with the cascaded generalized inverse algorithm, the weighted least squares algorithm and the minimal least squares algorithm. The effectiveness of the proposed control scheme is demonstrated by simulations involving a redundant set of actuators. The evaluation criteria include energy consumption, robustness, as well accuracy of tracking during typical vessel operation.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2018, 28, 4; 679-693
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: A backstepping approach to ship course control
Autorzy:: Witkowska, A.
Tomera, M.
Śmierzchalski, R.
Powiązania:: https://bibliotekanauki.pl/articles/911245.pdf
Data publikacji:: 2007
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: sterowanie nieliniowe
algorytm genetyczny
sterowanie statkiem
funkcja Lapunowa
backstepping
nonlinear control
genetic algorithms
ship control
Lyapunov function
Opis:: As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of nonlinear controllers, which are then applied to ship course control. The parameters of the obtained nonlinear control structures are tuned to optimise the operation of the control system. The optimisation is performed using genetic algorithms. The quality of operation of the designed control algorithms is checked in simulation tests performed on the mathematical model of a tanker. In order to obtain reference results to be used for comparison with those recorded for nonlinear controllers designed using the backstepping method, a control system with the PD controller is examined as well.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2007, 17, 1; 73-85
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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