文章基本信息

标题：A Ship’s Automatic Maneuvering System Using Optimal Preview Sliding Mode Controller with Adaptation Mechanism
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作者：Naoki Mizuno ; Naoki Mizuno ; Naoki Saka 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：23
页码：576-581
DOI：10.1016/j.ifacol.2016.10.497
语种：English
出版社：Elsevier
摘要：Abstract: In this paper, we present an automatic ship’s maneuvering system using optimal preview sliding mode controller with adaptation mechanism. In this system, the transient overshoot in conventional sliding mode control is reduced by introducing the optimal preview servo method. Moreover, the model based adaptation mechanism keeps the performance of control system for varying and uncertain ship’s dynamics. In order to evaluate the performance of the proposed system, computer simulation and actual sea tests carried out using small training ship Shioji-Maru under various conditions. As a result, we can confirm that the control performance is improved under many experimental conditions by comparing with sliding mode based automatic maneuvering system which has been proposed by the authors.
关键词：Keywordsautomatic maneuvering systemsliding mode controloptimal preview controladaptive control