Abstract
This paper presents an optimal path-following controller design for a ship. The main concern is to ensure the system output follows a planning path with the desired heading angle and speed. For the pre-processing, the quality of planning path will be optimized by using curve technique such as non-uniform b-spline instead of cubic spline. The backstepping control law which overcomes the defects of PID control law, be also robust and not require the number of signal input to equal the number of signal output. Hence in this paper, the backstepping algorithm is applied to solve this maneuvering problem. Simulation results on MATLAB/SIMULINK demonstrate the reliability and effectiveness of the proposed method.
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Acknowledgement
This research is supported by National Key Laboratory of Digital Control and System Engineering (DCSELAB), HCMUT and funded by Vietnam National University Ho Chi Minh city (VNU-HCM) under grant number B2015-20-01.
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Tran, NH., Pham, N.NT., Thai, B.HV., Le, TH. (2018). Study on Optimized Guidance and Robust Control for the Ship Maneuvering. In: Duy, V., Dao, T., Zelinka, I., Kim, S., Phuong, T. (eds) AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. AETA 2017. Lecture Notes in Electrical Engineering, vol 465. Springer, Cham. https://doi.org/10.1007/978-3-319-69814-4_49
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DOI: https://doi.org/10.1007/978-3-319-69814-4_49
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