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Dynamically positioned ship steering making use of backstepping method and artificial neural networks
Abstract
The article discusses the issue of designing a dynamic ship positioning system making use of the adaptive vectorial backstepping method and RBF type arti cial neural networks. In the article, the backstepping controller is used to determine control laws and neural network weight adaptation laws. e arti cial neural network is applied at each time instant to approximate nonlinear functions containing parametric uncertainties. e proposed control system does not require precise knowledge of the model of ship dynamics and external disturbances, it also eliminates the problem of analytical determination of the regression matrix when designing the control law with the aid of the adaptive backstepping procedure.
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Details
- Category:
- Articles
- Type:
- artykuł w czasopiśmie wyróżnionym w JCR
- Published in:
-
Polish Maritime Research
no. 25,
pages 5 - 12,
ISSN: 1233-2585 - Language:
- English
- Publication year:
- 2018
- Bibliographic description:
- Witkowska A., Niksa-Rynkiewicz T.: Dynamically positioned ship steering making use of backstepping method and artificial neural networks// Polish Maritime Research. -Vol. 25, nr. 4(100) (2018), s.5-12
- DOI:
- Digital Object Identifier (open in new tab) 10.2478/pomr-2018-0126
- Verified by:
- Gdańsk University of Technology
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