Adaptive backstepping control for ship nonlinear active fin system based on disturbance observer and neural network

Adaptive backstepping control based on disturbance observer and neural network for ship nonlinear active fin system is proposed. One disturbance observer is given to observe the disturbances of the system, by this way, the response time is shorten and the negative impact of disturbance and uncertain elements of the system is reduced. In addition, radial basic function neural network (RBFNN) is proposed to approach the unknown elements in the ship nonlinear active fin system, therefor the system can obtain good roll reduction effectiveness and overcome the uncertainties of the model, the designed controller can maintain the ship roll angle at desired value. Finally, the simulation results are given for a supply vessel to verify the successfulness of the proposed controller

LMI - BASED H2 AND H STATE - FEEDBACK CONTROLLER DESIGN FOR FIN STABILIZER OF NONLINEAR ROLL MOTION OF A FISHING BOAT

This paper presents the analyses of nonlinear roll responses of a fishing boat in waves. In addition to roll damping nonlinearity, the nonlinear roll restoring which has seventh order equation has been taken into consideration to accurate control application. To overcome nonlinearity and the effects of uncertainties, LMI (Linear Matrix Inequality) - based H2 and H State - Feedback Control are applied for the fin roll stabilizer of a fishing boat. The fin characteristics are calculated by Star CCM+ package software. Finally, utilising the studies presented to illustrate the feasibility and efficiency of the H2 and H control methods, the results of the simulations are demonstrated the performance of fin roll stabilizer

Automatic Control and Routing of Marine Vessels

Due to the intensive development of the global economy, many problems are constantly emerging connected to the safety of ships’ motion in the context of increasing marine traffic. These problems seem to be especially significant for the further development of marine transportation services, with the need to considerably increase their efficiency and reliability. One of the most commonly used approaches to ensuring safety and efficiency is the wide implementation of various automated systems for guidance and control, including such popular systems as marine autopilots, dynamic positioning systems, speed control systems, automatic routing installations, etc. This Special Issue focuses on various problems related to the analysis, design, modelling, and operation of the aforementioned systems. It covers such actual problems as tracking control, path following control, ship weather routing, course keeping control, control of autonomous underwater vehicles, ship collision avoidance. These problems are investigated using methods such as neural networks, sliding mode control, genetic algorithms, L2-gain approach, optimal damping concept, fuzzy logic and others. This Special Issue is intended to present and discuss significant contemporary problems in the areas of automatic control and the routing of marine vessels

Online parameter estimation of a miniature unmanned helicopter using neural network techniques

The online aerodynamic parameter estimation of a miniature unmanned helicopter using Neural Network techniques has been presented. The simulation model for the miniature helicopter was developed using the MATLAB/ SIMULINK software tool. Three trim conditions were analyzed: hover flight, 10m/s forward flight and 20m/s forward flight. Radial Basis Function (RBF) online learning was achieved using a moving window algorithm which generated an input-output data set at each time step. RBF network online identification was achieved with good robustness to noise for all flight conditions. However, the presence of atmospheric turbulence and sensor noise had an adverse effect on network size and memory usage. The Delta Method (DM) and the Modified Delta Method (MDM) was investigated for the NN-based online estimation of aerodynamic parameters. An increasing number high confidence estimated parameters could be extracted using the MDM as the helicopter transitioned from hover to forward flight

Análisis de las variaciones en la función característica de pequeña señal de un sistema de potencia con retardos y controlado por PSS’S

En este trabajo se presenta el desarrollo de un sistema de control que busca solucionar el problema de no contar con suficiente claridad acerca de la manera en que el estabilizador de sistemas de potencia (PSS’S) mueve los polos y modifica la función característica de un sistema de potencia de área amplia con retardos y en el que se presentan oscilaciones Inter-Área. el nicho de esta investigación se encuentra dentro del área de estudio de los problemas de estabilidad en el ángulo del rotor a pequeña perturbación. El sistema sobre el cual se trabajó es el sistema de prueba Kundur

New Approaches in Automation and Robotics

The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book