论文信息 - Adaptive Fuzzy Controller Design for Dynamic Positioning System

Adaptive Fuzzy Controller Design for Dynamic Positioning System

An adaptive fuzzy controller for dynamic positioning (DP) system is designed. The controller utilizes Backstepping algorithm as the adaptive law and uses a fuzzy system for approximating the disturbances and uncertainties. The proposed adaptive fuzzy controller is proven to be uniform bounded in the sense of Lyapunov. Simulation results show that DP vessel with the adaptive fuzzy controller would be more adaptive with environmental interference and ship parametric uncertainty.

Yong Sheng Zhao | Wen Hui Wu | Yi Ming Bai

[1] Shaocheng Tong,et al. Fuzzy direct adaptive control for a class of nonlinear systems , 1999, Fuzzy Sets Syst..

[2] Kurt Kubik,et al. Kalman Filtering and Optimal Control Strategies for Dynamic-Positioning System , 1994 .

[3] Michael J. Grimble,et al. Dynamic ship positioning using a self-tuning Kalman filter , 1983 .

[4] Tianyou Chai,et al. Extraction and Adaptation of Fuzzy Rules for Friction Modeling and Control Compensation , 2011, IEEE Transactions on Fuzzy Systems.

[5] V. Panuska. A new form of the extended Kalman filter for parameter estimation in linear systems , 1979, 1979 18th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[6] Thor I. Fossen,et al. Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel , 1999, Autom..

[7] Bart Kosko,et al. Fuzzy Systems as Universal Approximators , 1994, IEEE Trans. Computers.