Adaptive Robust Backstepping Nonlinear Algorithm Applied to Ship Steering
| Authors: | Du Jialu, Dalian Maritime University, China
Chen Guo, Dalian Maritime University, China
Yang Chengen, Dalian Maritime University, China |
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| Topic: | 7.2 Marine Systems |
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| Session: | Marine Systems III |
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| Keywords: | ship control, adaptive, robust, nonlinear, tracking |
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Abstract
A new adaptive robust nonlinear steering controller for ship’s course is developed. Incorporating the Nussbaum-type function gain and adaptive backstepping algorithm, the proposed control strategy requires neither known dynamic parameters of a ship’s model nor any knowledge about environmental disturbances. It is proved that the designed adaptive robust controller of ship steering can guarantee the uniform ultimate boundedness of the resulting closed-loop system signals. Dynamic performance can be improved by an appropriate choice of the design parameters. The effectiveness of the presented algorithm has been demonstrated in a simulation involving a ship of 45m in length.
