Technical note title: Determining Robust Parameters in Stabilizing Set of Backstepping Based Nonlinear Controller for Ship Course Keeping
X K Zhang and G Q Zhang, Navigation College, dalian Maritime University, Dalian Liaoning, China
In order to solve the problem that backstepping method cannot effectively guarantee the robust performance of the closed-loop system, a novel method of determining parameter is developed in this note. Based on the ship manoeuvring empirical knowledge and the closed-loop shaping theory, the derived parameters belong to a reduced robust group in the original stabilizing set. The uniformly asymptotic stability is achieved theoretically. The training vessel “Yulong” and the tanker “Daqing232” are selected as the plants in the simulation experiment. And the simulation results are presented to demonstrate the effectiveness of the proposed algorithm.
Transactions RINA, Vol 158, Part A3, International Journal Maritime Engineering, Jul-Sep 2016
DOI No: 10.3940/rina.ijme.2016.a3.357tn
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