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題名 | Nonlinear Adaptive Control Algorithm Based on Dynamic Surface Control and Neural Networks for Ship Course-keeping Controller |
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作者 | Zhang, Qiang; Hu, Yancai; Wang, Aiqin; Jiang, Na; | 書刊名 | Journal of Applied Science and Engineering |
卷期 | 20:2 2017.06[民106.06] |
頁次 | 頁157-163 |
分類號 | 444.63 |
關鍵詞 | Ship course-keeping; Uncertain parameters; Dynamic surface control; Neural networks; Nussbaum gain; |
語文 | 英文(English) |
英文摘要 | Based on the dynamic surface control (DSC) and neural networks (NNs), an adaptive control algorithm with Nussbaum gain is proposed for the nonlinear ship course-keeping control system. This approach solves the uncertainties of the ship course-keeping control system, reduces the effect of the external disturbances, simplifies the control laws and overcomes the problem of ‘explosion of complexity’ inherent in the backstepping method. Furthermore, the Nussbaum function introduced into controller solves the problems of direction-unknown control gains, and avoids the singular problem of controller. The results of simulation show that the proposed control algorithm is effective. |
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