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Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming
It is generally assumed in dynamic positioning of over-actuated marine vessels that the control effectiveness matrix (input matrix) is known and constant, or, in case of fault information, it is estimated by the fault detection and diagnosis system. The purpose of the study is to develop the adaptive dynamic positioning control system for an over-actuated marine vessel in the presence of uncertainties and with emphasis on limited...
In this paper trajectory for approaching during emergency STS transfer operation with oil spill is considered as a sequence of navigation manoeuvres in specific navigational environment. The designed way points - ship positions and speed are determined as reference values to support navigator in decision making during steering and to mitigate the risk of collision which mostly results from exceeding the speed limit of approaching....
Dynamically positioned ship steering making use of backstepping method and artificial neural networks
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....
Uzyskane stopnie/tytuły naukowe
Nadanie stopnia naukowegodr Automatyka i robotyka (Dziedzina nauk technicznych)Politechnika Warszawska, Wydział Elektroniki i Technik Informacyjnych
wyświetlono 238 razy