Journal of Dalian Maritime University >
2016 , Vol. 42 >Issue 3: 15 - 19
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2016.03.003
A kind of bipolar sigmoid function decorated nonlinear ship course keeping algorithm
Received date: 2015-12-30
Revised date: 2016-01-29
Online published: 2016-01-29
In order to make the ship course keeping algorithm more energy-efficient, the linear controller was designed by using the closed-loop gain shaping algorithm. Then a kind of bipolar sigmoid function was applied to decorate the former linear controller. Theoretical analysis shows that the proposed algorithm can reduce the control energy when control effect equals to the former. Taking the training ship “Yukun” as an example, and Simulink Toolbox was used to simulate. Results indicate that the designed controller based on nonlinear decoration has the advantages of good robustness, and steering amplitude reduces by more than 10% on average.
Key words： ship; course keeping; nonlinear decoration; closed-loop gain shaping
ZHANG Xian-ku , YANG Guang-ping , ZHANG Qiang . A kind of bipolar sigmoid function decorated nonlinear ship course keeping algorithm[J]. Journal of Dalian Maritime University, 2016 , 42(3) : 15 -19 . DOI: 10.16411/j.cnki.issn1006-7736.2016.03.003
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