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题名: Nonlinear backstepping design of ship steering controller: Using unscented Kalman filter to estimate the uncertain parameters
作者: Peng Y(彭艳) ; Han JD(韩建达) ; Wu ZW(吴镇炜)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Automation and Logistics
会议日期: August 18-21, 2007
会议地点: Jinan, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chinese Mech Engn Soc, Logist Engn Inst China, China Federat Logist & Purchasing, IEEE Hong Kong, Sect RACS Chapter
会议录: 2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6
会议录出版者: IEEE, ELECTRON DEVICES SOC & RELIABILITY GROUP
会议录出版地: NEW YORK
出版日期: 2007
页码: 126-131
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-1530-4
关键词: unscented Kalman filter ; steering control ; underactuated ships ; parameter estimation ; backstepping
摘要: This paper proposes an unscented Kalman filter(UKF) based steering controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. By using Nomoto ship model with nonlinear maneuvering characteristics and backstepping design methodology, a nonlinear ship steering controller is designed successfully. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift due to time-varying added mass matrices. MATLAB simulation shows that the presented algorithm can overcome the nonlinear specialities successfully and achieve better tracking effect.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8808
Appears in Collections:机器人学研究室_会议论文

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