Multi-level DVS Guidance and Output-feedback Path-following Control for Marine Surface Vehicles

• 발행기관: 한국항해항만학회
• 저자명: Ying-Jie Deng Nam-kyun Im
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2018 추계학술대회논문집, 256~257쪽, 전체 2쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2018.11.30

영문 초록

This paper deals with the path-following control for marine surface vehicles with underactuated characteristics. In consideration of practical limitations of actuators, an improved DVS(dynamic virtual ship) guidance algorithm is proposed with the multi-level DVS optionally selected to be tracked. To address the output-feedback control issue, an adaptive FLS(fuzzy logical systems) is devised to online approximate the kinematic states. Based on that observing framework, the path-following control law is thereafter derived. Simulations testify effectiveness of the proposed scheme.

키워드

Path Following Control Underactuated Ships Multi-level DVS Guidance Adaptive FLS Observer