obust  λ control for ship course-keeping system in present of the unknown control gain function

  • TIAN Bai-jun ,
  • LIU Zheng-jiang*
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  • (Navigation College, Dalian Maritime University, Dalian 116026, China)

Received date: 2015-01-07

  Revised date: 2015-01-18

  Online published: 2015-06-07

Abstract

To stabilize the uncertainties with the more general form (including the drifting uncertainty and unknown control gain function), a novel Lyapunov function is constructed for the ship couse-keeping system. By virtue of the adaptive Backstepping method, a robust regulation algorithm is developed with the presecribed stabilizing bounds. One key merit of the algorithm is its burden-some superiority, without parameter updating in the prescribed bounds. The simulation test is carried out using the training vessel “Yulong” of Dalian Maritime University, which has illustrated the validity of the proposed algorithm.

Cite this article

TIAN Bai-jun , LIU Zheng-jiang* . obust  λ control for ship course-keeping system in present of the unknown control gain function[J]. Journal of Dalian Maritime University, 2015 , 41(2) : 30 -34 . DOI: 10.16411/j.cnki.issn1006-7736.2015.02.005

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