DocumentCode
3270738
Title
Path-keeping Controller Based on Backstepping and Fuzzy Methods for a High-speed Vessel
Author
Fu, Mingyu ; Ding, Fuguang ; Shi, Xiaocheng ; Zhang, Hongyu
Author_Institution
Harbin Eng. Univ., Harbin
fYear
2007
fDate
20-24 March 2007
Firstpage
648
Lastpage
652
Abstract
A cascade control structure was designed for the path keeping based on the nonlinear motion model. The backstepping control is researched for the inner loop and the fuzzy control is introduced to the primary loop. The real time simulation results show that the controllers own high performance and follow the path very accurate in high speed under the wind disturbance.
Keywords
cascade control; control system synthesis; fuzzy control; marine vehicles; motion control; nonlinear control systems; velocity control; air cushion vessel; backstepping control; cascade control structure design; fuzzy control; high-speed vessel; marine vehicle; nonlinear motion model; path-keeping controller; Backstepping; Control systems; Educational institutions; Error correction; Fuzzy control; Fuzzy logic; Fuzzy sets; Fuzzy systems; Motion control; Velocity control; Backstepping control; Cascade control structure; Coordinated-control; Fuzzy control; Highspeed Vessel;
fLanguage
English
Publisher
ieee
Conference_Titel
Integration Technology, 2007. ICIT '07. IEEE International Conference on
Conference_Location
Shenzhen
Print_ISBN
1-4244-1092-4
Electronic_ISBN
1-4244-1092-4
Type
conf
DOI
10.1109/ICITECHNOLOGY.2007.4290399
Filename
4290399
Link To Document