Abstract
This paper proposes a controller for pod-driven surface ships based on adaptive backstepping with integrator. The pod propulsion has the advantages of higher efficiency and better maneuvrability compared with the conventional propulsion, and large steering-induced heeling angle with the possibly large steering forces. The adaptive backstepping is normally used in the systems including uncertainty information or unknown parameters and the integrator can be added to eliminate the constant static error. Simulation results show that compared with the PID controller, the adaptive backstepping with integrator is much better in overshoot, adjusting time, and static error without disturbance and in chattering with disturbance.
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Acknowledgments
This work was supported in part by the Fundamental Research Funds for the Central Universities under Grant nos. HIT.NSRIF.2013135 and HIT.KISTP.2014029, the Natural Scientific Research Innovation Foundation in Harbin Institute of Technology under Grant no. HIT.NSRIF.2014139, and the Science and Technology Foundation for the Universities in Shandong Province under Grant no. J14LN93.
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Zhao, Y., Huang, H., Zhuang, Y. (2016). The Heading Control of POD-Driven Ship Using Adaptive Integrator Backstepping. In: Huang, B., Yao, Y. (eds) Proceedings of the 5th International Conference on Electrical Engineering and Automatic Control. Lecture Notes in Electrical Engineering, vol 367. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48768-6_20
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DOI: https://doi.org/10.1007/978-3-662-48768-6_20
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