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A method of adaptive backstepping sliding mode controller design is presented for dynamic positioning ship with nonlinear mathematical model and external uncertain disturbances. Firstly, the position deviation and velocity error are proposed, and the virtual control vector of two subsystems are defined. Secondly, the sliding mode surface switch function is designed. Then, adaptive controller is designed...
Autopilot system are valuable for many applications, such as: oceanographic, military purposes, maritime transport,… which offer greater self-adaptive capacity and cost-effectiveness compared to traditional systems. Especially, this is a common and an essential problem for Unmmaned Surface Vessel (USV) due to the non-linearity of the system and the changing environmental conditions. This paper focus...
In this paper, a robust UKF algorithm based on least-square is proposed for the semi-submersible ship dynamic positioning speed sensorless control system, which lacks the ability to adapt itself to system state anomalies. The algorithm uses the least-square method to compute the suboptimal fading factor, it adjusts the filter estimation gain adaptively, and it realizes the strong tracking to the real...
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