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    Wyświetlanie 1-4 z 4
    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
    Artykuł
    Tytuł:
    Modeling and Control of a 4-wheel Skid-steering Mobile Robot
    Autorzy:
    Kozłowski, K.
    Pazderski, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/907961.pdf
    Data publikacji:
    2004
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    robot mobilny
    backstepping
    analiza Lyapunova
    mobile robots
    skid-steering vehicles
    time-varying control laws
    Lyapunov analysis
    Opis:
    A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 477-496
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust adaptive fuzzy filters output feedback control of strict-feedback nonlinear systems
    Autorzy:
    Tong, S.
    Liu, C.
    Li, Y.
    Powiązania:
    https://bibliotekanauki.pl/articles/908148.pdf
    Data publikacji:
    2010
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    system nieliniowy
    sterowanie rozmyte
    sprzężenie zwrotne
    nonlinear system
    adaptive fuzzy control
    backstepping
    small-gain approach
    K-filters
    Opis:
    In this paper, an adaptive fuzzy robust output feedback control approach is proposed for a class of single input single output (SISO) strict-feedback nonlinear systems without measurements of states. The nonlinear systems addressed in this paper are assumed to possess unstructured uncertainties, unmodeled dynamics and dynamic disturbances, where the unstructured uncertainties are not linearly parameterized, and no prior knowledge of their bounds is available. In recursive design, fuzzy logic systems are used to approximate unstructured uncertainties, and K-filters are designed to estimate unmeasured states. By combining backstepping design and a small-gain theorem, a stable adaptive fuzzy output feedback control scheme is developed. It is proven that the proposed adaptive fuzzy control approach can guarantee the all the signals in the closed-loop system are uniformly ultimately bounded, and the output of the controlled system converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated by a simulation example and some comparisons.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2010, 20, 4; 637-653
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    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
    Artykuł
      Wyświetlanie 1-4 z 4

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