Title :
Nonlinear Backstepping Design of Ship Steering Controller: Using Unscented Kalman Filter to Estimate the Uncertain Parameters
Author :
Peng, Yan ; Han, Jianda ; Wu, Zhenwei
Author_Institution :
Chinese Acad. of Sci. Shenyang, Shenyang
Abstract :
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.
Keywords :
Kalman filters; control system synthesis; nonlinear control systems; position control; remotely operated vehicles; ships; uncertain systems; Nomoto ship model; nonlinear backstepping design; ship steering controller; underactuated nonlinear autonomous ships; unscented Kalman filter; Automatic control; Backstepping; Control systems; Design automation; Force control; Marine vehicles; Mathematical model; Parameter estimation; Sliding mode control; Three-term control; Backstepping; Parameter estimation; Steering control; Underactuated ships; Unscented Kalman filter;
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
DOI :
10.1109/ICAL.2007.4338543