Design of Ship Course Controller Based on Improved Adaptive Backstepping

DOI

10.2991/masta-19.2019.5How to use a DOI?

Keywords

Ship course control, Parameter uncertainty, Improved adaptive backstepping(IAB), K-class function

Abstract

This paper presents an improved adaptive backstepping control method based on uncertain parameters of ship model to design the ship course controller. The K-class function is introduced into every step of the virtual function design to ensure the stability of the closed-loop system and accelerate the convergence speed of the system state variables. Simulation results show that IAB control method is more superior than the traditional adaptive backstepping control method.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhi-hui Qu
AU  - Xing-cheng Wang
PY  - 2019/07
DA  - 2019/07
TI  - Design of Ship Course Controller Based on Improved Adaptive Backstepping
BT  - Proceedings of the 2019 International Conference on Modeling, Analysis, Simulation Technologies and Applications (MASTA 2019)
PB  - Atlantis Press
SP  - 28
EP  - 33
SN  - 1951-6851
UR  - https://doi.org/10.2991/masta-19.2019.5
DO  - 10.2991/masta-19.2019.5
ID  - Qu2019/07
ER  -