DocumentCode :
2110133
Title :
Network-based fuzzy adaptive sliding mode controller for the ship steering problem
Author :
Guoqing Xia ; Huiyong Wu ; Ang Zhao ; Chengcheng Pang
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
fYear :
2013
fDate :
23-25 July 2013
Firstpage :
213
Lastpage :
218
Abstract :
In this paper, a networked ship course control system is considered, and the network-induced delay is the main problem in the networked control system (NCS). A network-based fuzzy adaptive nonlinear sliding model controller is proposed. The sliding surface is constructed with the time delay compensation. The unknown parts in the model, consisting of the external disturbances and the unmodeled dynamics, are approximately estimated by the fuzzy logic system. The sliding mode controller is designed to deal with the bad influence brought by both the time delay and the unknown terms. According to the Lyapunov theorem, the parameter vector of the fuzzy system is updated and the stability of the closed-loop system is proved. Finally, with the network environment simulated using the Truetime toolbox, simulation tests on a Mariner class vessel in waves are performed to validate the effectiveness of the proposed control scheme.
Keywords :
Lyapunov methods; adaptive control; closed loop systems; compensation; control system synthesis; delays; fuzzy control; networked control systems; nonlinear control systems; ships; stability; steering systems; variable structure systems; Lyapunov theorem; Mariner class vessel simulation tests; NCS; Truetime toolbox; closed-loop system stability; external disturbances; fuzzy logic system; fuzzy system; network environment; network-based fuzzy adaptive nonlinear sliding model controller; network-induced delay; networked ship course control system; parameter vector; ship steering problem; time delay compensation; unmodeled dynamics; Adaptation models; Adaptive systems; Control systems; Delays; Fuzzy logic; Fuzzy systems; Marine vehicles; Fuzzy adaptive; Lyapunov; Network control system (NCS); Sliding mode control; Truetime;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Fuzzy Systems and Knowledge Discovery (FSKD), 2013 10th International Conference on
Conference_Location :
Shenyang
Type :
conf
DOI :
10.1109/FSKD.2013.6816195
Filename :
6816195
Link To Document :
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