Adaptive Stochastic Sliding Mode Ship Autopilot for Way-Point Tracking
محل انتشار: بیست و یکمین کنفرانس مهندسی برق ایران
سال انتشار: 1392
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 913
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شناسه ملی سند علمی:
ICEE21_239
تاریخ نمایه سازی: 27 مرداد 1392
چکیده مقاله:
In This paper, way-point tracking control of a container ship based on LOS method using adaptive stochastic sliding mode control is investigated. EffectiveControl of ships in a designed trajectory is always an important task for ship maneuvering .The design is based on a low and high frequency model of the vessel motionadequate to ship steering. The low frequency model describes the vessel response to rudder control and slowlyvarying environmental forces. The high frequency model represents the wave induced oscillatory part of the yaw motion. For suppression of high frequency wavedisturbances, the nonlinear recursive filter is considered. The uncertainty of model parameters in the presence of disturbances such as waves, wind and currents, dictate the application of techniques that take into account the nonlinear equations of ship’s motion and the presence ofunknown parameters. In this sense, the adaptive stochastic sliding mode design is used for solving this problem. The simulation results show the suitability of this technique to compensate the time-varying disturbances effects in waypoint tracking control.
نویسندگان
M Asadi
School of Electrical & Computer engineering, Shahrood University of Technology