Dynamically Positioned Ship Steering Making Use of Backstepping Method and Artificial Neural Networks

Polish maritime research

Anna Witkowska^1¹  Tacjana Niksa Rynkiewicz^2² 

[1] Gdańsk University of Technology,, Gdańsk, Poland^1;Gdańsk University of Technology,, Gdańsk, Poland^2

关键词: backstepping;    neural networks;    RBF;    dynamic ship positioning;   

DOI  :  10.2478/pomr-2018-0126

学科分类：工程和技术（综合）

来源: Politechnika Gdanska * Wydzial Oceanotechniki i Okretownictwa

【 摘 要 】

The article discusses the issue of designing a dynamic ship positioning system making use of the adaptive vectorial backstepping method and RBF type artificial neural networks. In the article, the backstepping controller is used to determine control laws and neural network weight adaptation laws. The artificial neural network is applied at each time instant to approximate nonlinear functions containing parametric uncertainties. The 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.

【 授权许可】

Unknown