Fuzzy adaptive ship steering control based on  variable contraction-expansion factors

  • LIU Dan ,
  • WANG Ning
Expand
  • Marine Engineering College, Dalian Maritime University, Dalian 116026, China)

Received date: 2015-08-24

  Revised date: 2015-10-08

  Online published: 2015-10-09

Abstract

A fuzzy adaptive control method was proposed based on variable contractionexpansion factors for the inherent nonlinearity and uncertainties problems of ship steering control system. The proposed scheme was based on Norbbin nonlinear ship motion model, and Lyapunov stability theorem was adopted to guarantee the stability of the closedloop control system. Moreover, the parameters of fuzzy logic system were derived by using projection algorithm, so that a favorable control performance could be achieved with simple fuzzy rules.  Simulation results verify the effectiveness and superiority of the proposed scheme.

Cite this article

LIU Dan , WANG Ning . Fuzzy adaptive ship steering control based on  variable contraction-expansion factors[J]. Journal of Dalian Maritime University, 2016 , 42(1) : 7 -12 . DOI: 10.16411/j.cnki.issn1006-7736.2016.01.002

References

[1]TANAKA K,SUGENO M. Stability analysis and design of fuzzy control systems[J]. Fuzzy Sets and Systems,1992,45(2):135-156.
[2]WANG Li-xin. Stable adaptive fuzzy control of nonlinear systems[J]. IEEE Transactions on Fuzzy Systems,1993,1(2):146-155.
[3]TANG Yue-zhong,ZHANG Nai-yao,LI Yan-da. Stable fuzzy adaptive control for a class of nonlinear systems[J]. Fuzzy Sets and Systems,1999,104(2):279-288.
[4]杨盐生.船舶航向非线性系统的模型参考模糊自适应控制[J].中国造船,2003,44(3):85-93.
YANG Yan-sheng.Model reference fuzzy adaptive control for ship streering autopilot with uncertain nonlinear system[J]. Ship building of China,2003,44(3):85-93.(in Chinese)
[5]YANG Yan-sheng. Output feedback adaptive robust control algorithm applied to ship steering autopilot with uncertain nonlinear system[C]//Proceedings of the 4th World Congress on Intelligent Control and Automation.[S.l]:IEEE Press,2002:2487-2491.
[6]LI Tie-shan,YANG Yan-sheng, HONG Bi-guang, et al. A robust adaptive nonlinear control approach to ship straight-path tracking design[C]//Proceedings of the 2005 American Control Conference.[S.l.]:IEEE Press, 2005: 4016-4021.
[7]YANG Yan-sheng, ZHOU Chang-jiu. Adaptive fuzzy H∞ stabilization for strict-feedback canonical nonlinear systems via backstepping and small-gain approach[J]. IEEE Transactions on Fuzzy Systems, 2005, 13(1): 104-114.
[8]XU Bin, YANG Chen-guang, SHI Zhong-ke. Reinforcement learning output feedback NN control using deterministic learning technique[J]. IEEE Transactions on Neural Networks and Learning Systems,2014, 25(3): 635-641.
[9]XU Bin, SHI Zhong-ke, YANG Chen-guang, et al. Composite neural dynamic surface control of a class of uncertain nonlinear systems in strict-feedback form[J]. IEEE Transactions on  Cybernetics, 2014,44(12): 2626-2634.
[10]李洪兴.变论域自适应模糊控制器[J].中国科学(E辑),1999,29(1):32-42.
LI Hong-xing. Research on adaptive fuzzy control with variable universe[J]. Science in China(Series E), 1999, 29(1):32-42.(in Chinese)
[11]李洪兴,苗志宏,王加银,等.四级倒立摆的变论域自适应模糊控制[J].中国科学(E辑),2002,32(1):65-75.
LI Hong-xing, MIAO Zhi-hong, WANG Jia-yin, et al. Adaptive fuzzy control with the variable universe for the four stage inverted pendulum[J]. Science in China (Series E),2002,32(1):65-75.(in Chinese)
[12]李洪兴,苗志宏,王加银.非线性系统的变论域稳定自适应模糊控制[J].中国科学(E辑),2002,32(2):211-223.
LI Hong-xing, MIAO Zhi-hong, WANG Jia-yin. Adaptive fuzzy control of nonlinear systems with variable universe[J]. Science in China(Series E),2002, 32(1):211-223.(in Chinese)
[13]WANG Li-xing. Adaptive fuzzy systems and control: design and stability analysis[M].Englewood Cliffs,NJ: Prentice Hall,1994.
[14]张显库,贾欣乐,刘川.响应型船舶运动数学模型的构造[J].大连海事大学学报,2004,30(1):18-21.
ZHANG Xian-ku, JIA Xin-le, LIU Chuan. Research on responding ship motion mathematical model[J]. Journal of Dalian Maritime University, 2004, 30(1): 18-21.(in Chinese)
Outlines

/