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Improved Concise Backstepping Control of Course Keeping for Ships Using Nonlinear Feedback Technique

Published online by Cambridge University Press:  21 June 2017

XianKu Zhang ,
Guangping Yang Open the ORCID record for Guangping Yang [Opens in a new window] ,
Qiang Zhang ,
Guoqing Zhang  and
Yuqi Zhang
XianKu Zhang
Affiliation:
(Navigation College, Dalian Maritime University, Dalian 116026China)
Guangping Yang
Affiliation:
(Navigation College, Dalian Maritime University, Dalian 116026China)
Qiang Zhang
Affiliation:
(Navigation College, Dalian Maritime University, Dalian 116026China)
Guoqing Zhang*
Affiliation:
(Navigation College, Dalian Maritime University, Dalian 116026China)
Yuqi Zhang
Affiliation:
(School of Humanity and Law, Dalian University of Technology, Dalian 116024China)
*
(E-mail: zgq_dlmu@163.com)
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Abstract

Course keeping for ships is vital for automatic navigation in marine transportation. To improve the control effect and reduce the energy output of the controller, this article proposes an improved concise backstepping controller based on a Lyapunov candidate function by introducing a nonlinear function of course error to replace the course error itself in the feedback loop. The procedure of nonlinear controller design has been reduced from two steps to one step using information from controlled plant to construct the Lyapunov candidate function. Compared with the pure backstepping control, the proposed improved algorithm reserves the nonlinear item of the system, and possesses a strong disturbance rejection ability and robustness to the mathematical model uncertainty. The algorithm given here has advantages of simplified construction method, satisfactory control effect, robustness and energy saving.

Keywords

Course keeping for shipsNonlinear feedbackLyapunov stabilityImprovement
Type
Review Article
Information
The Journal of Navigation , Volume 70 , Issue 6 , November 2017 , pp. 1401 - 1414
Copyright
Copyright © The Royal Institute of Navigation 2017 

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