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Ship heading control based on backstepping and Least squares support vector machine

Suo Xie ; Xiumin Chu ; CG Liu ; L. Wang ; Wengang Mao ( Institutionen för mekanik och maritima vetenskaper, Marin teknik)
The 4th International Conference on Transportation Information and Safety Aug. 8-10 in Banff, Alberta, Canada p. 196-203. (2017)
[Konferensbidrag, refereegranskat]

In this paper, a least squares support machine (LS-SVM) and backstepping process based method is proposed to control a ship’s heading. In the method, the control object is set up the response model, which could consider the delay of the ship’s steering gear. Firstly, a feedback controller is designed by backstepping, and a feedforward inverse controller is trained by LS-SVM. Then the backstepping method and LS-SVM inverse model are combined to form a new controller by adapting their output weights. Finally, simulations using only the backstepping method are compared with different interferences to verify the effectiveness of the combined controller proposed in this paper.

Nyckelord: heading control; least squares support vector machine; backstepping; compound control

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Denna post skapades 2017-10-12. Senast ändrad 2017-11-29.
CPL Pubid: 252476