Volume 6 Number 3
August 2009
Article Contents
Anna Witkowska and Roman Smierzchalski. Nonlinear Backstepping Ship Course Controller. International Journal of Automation and Computing, vol. 6, no. 3, pp. 277-284, 2009. doi: 10.1007/s11633-009-0277-2
Cite as: Anna Witkowska and Roman Smierzchalski. Nonlinear Backstepping Ship Course Controller. International Journal of Automation and Computing, vol. 6, no. 3, pp. 277-284, 2009. doi: 10.1007/s11633-009-0277-2

Nonlinear Backstepping Ship Course Controller

  • Received: 2007-09-18
Fund Project:

supported by Polish Ministry of Science and Higher Education (No.N514 015 32/1712)

通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

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Nonlinear Backstepping Ship Course Controller

Fund Project:

supported by Polish Ministry of Science and Higher Education (No.N514 015 32/1712)

Abstract: A ship, as an object of course control, is characterized by a nonlinear function describing the static maneuvering charac- teristics. The backstepping method is one of the methods that can be used during the designing process of a nonlinear course controller for ships. The method has been used for the purpose of designing two configurations of nonlinear controllers, which were then used to control the ship course. One of the configurations took dynamic characteristic of a steering gear into account during the designing stage. The parameters of the obtained nonlinear control structures have been tuned to optimise the operation of the control system. The optimisation process has been performed by means of genetic algorithms. The quality of operation of the designed control algorithms has been checked in simulation tests performed on the mathematical model of a tanker. The results of simulation experiments have been compared with the performance of the system containing a conventional proportional-derivative (PD) controller.

Anna Witkowska and Roman Smierzchalski. Nonlinear Backstepping Ship Course Controller. International Journal of Automation and Computing, vol. 6, no. 3, pp. 277-284, 2009. doi: 10.1007/s11633-009-0277-2
Citation: Anna Witkowska and Roman Smierzchalski. Nonlinear Backstepping Ship Course Controller. International Journal of Automation and Computing, vol. 6, no. 3, pp. 277-284, 2009. doi: 10.1007/s11633-009-0277-2
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