DETERMINING ROBUST PARAMETERS IN STABILIZING SET OF BACKSTEPPING BASED NONLINEAR CONTROLLER FOR SHIP COURSE KEEPING

In order to solve the problem that backstepping method cannot effectively guarantee the robust performance of the closed-loop system, a novel method of determining parameter is developed in this note. Based on the ship manoeuvring empirical knowledge and the closed-loop shaping theory, the derived parameters belong to a reduced robust group in the original stabilizing set. The uniformly asymptotic stability is achieved theoretically. The training vessel “Yulong” and the tanker “Daqing232” are selected as the plants in the simulation experiment. And the simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

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DETERMINING ROBUST PARAMETERS IN STABILIZING SET OF BACKSTEPPING BASED NONLINEAR CONTROLLER FOR SHIP COURSE KEEPING

The International Journal of Maritime Engineering ◽

10.5750/ijme.v158ia3.996 ◽

2021 ◽

Vol 158 (A3) ◽

Author(s):

G Q Zhang ◽

X K Zhang

Keyword(s):

Closed Loop ◽

Empirical Knowledge ◽

Nonlinear Controller ◽

Closed Loop System ◽

Ship Maneuvering ◽

System A ◽

Uniformly Asymptotic Stability ◽

Nomoto Model ◽

Novel Method ◽

Backstepping Algorithm

The authors have addressed an important topic that is needed for backstepping algorithm to guarantee the robust performance of the closed-loop system. A novel method of determining parameters was presented based on ship maneuvering empirical knowledge and closed-loop shaping theory, and theoretical proof had shown the uniformly asymptotic stability of an established nonlinear Nomoto model. However, the following important points are suggested for the improvement of this paper.

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Faculty Opinions recommendation of Crystalloid versus Colloid for Intraoperative Goal-directed Fluid Therapy Using a Closed-loop System: A Randomized, Double-blinded, Controlled Trial in Major Abdominal Surgery.

Faculty Opinions – Post-Publication Peer Review of the Biomedical Literature ◽

10.3410/f.732036919.793538429 ◽

2017 ◽

Author(s):

Michael James

Keyword(s):

Abdominal Surgery ◽

Fluid Therapy ◽

Closed Loop ◽

Controlled Trial ◽

Loop System ◽

Major Abdominal Surgery ◽

Closed Loop System ◽

System A ◽

Goal Directed Fluid Therapy ◽

Double Blinded

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Stable Nonlinear Control Allocation for Aircraft with Multiple Control Effectors

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.138-139.404 ◽

2011 ◽

Vol 138-139 ◽

pp. 404-409 ◽

Cited By ~ 1

Author(s):

Heng Li ◽

Jin Yong Yu ◽

You An Zhang

Keyword(s):

Closed Loop ◽

Dynamic Control ◽

Lyapunov Stability Theory ◽

Invariant Set ◽

Control Law ◽

Control Allocation ◽

Nonlinear Controller ◽

Closed Loop System ◽

Multiple Control ◽

Simulation Results

With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a dynamic control allocation with position constraints of each effector, is designed. Based on Lyapunov stability theory and LaSalle invariant set theorem, asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method.

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A New Fuzzy Variable Structure Control of a Type of Nonlinear Multivariable System

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.315-316.623 ◽

2006 ◽

Vol 315-316 ◽

pp. 623-627

Author(s):

P. Wei ◽

Z.L. Wang ◽

L.H. Qiu

Keyword(s):

High Efficiency ◽

Control Method ◽

Fuzzy Variable ◽

Variable Structure Control ◽

Variable Structure ◽

Multivariable System ◽

Robust Performance ◽

Structure Control ◽

System A ◽

Novel Method

In order to improve the robust performance for a type of nonlinear multivariable system, a new fuzzy variable structure control method is introduced in detail, which combined the features of traditional variable structure control method with the advantages of the fuzzy control theory. The present work realized the linearization of the nonlinear multivariable system, and then the new fuzzy variable structure control method is applied to control the linearization system. The robust experiments were carried out on the novel method. The results indicated that the required robust performance could be achieved with high efficiency by utilizing the new method.

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