Abstract
A ship, as an object for course control, is characterised by a nonlinear function describing the static maneuvering characteristics. One of the methods which can be used for designing a nonlinear course controller for ships is the backstepping method. It was used here for designing the configurations of nonlinear controllers, which were then applied for ship course control. The parameters of the obtained nonlinear control structures were tuned to optimise the operation of the control system. The optimisation was performed using genetic algorithms. The quality of operation of the designed control algorithms was checked in simulation tests performed on the mathematical model of the tanker completed by steering gear.
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Witkowska, A., Smierzchalski, R. (2007). Tuning of Parameters Backstepping Ship Course Controller by Genetic Algorithm. In: Pejaś, J., Saeed, K. (eds) Advances in Information Processing and Protection. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-73137-7_14
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DOI: https://doi.org/10.1007/978-0-387-73137-7_14
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