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Design of a Simulation System for Cross-Eye Dynamic Jamming Read chapter Read first chapter

2018 | OriginalPaper | Chapter

CMAC and NISM Integrated Controller for Twin-Rudder Twin-Propeller Ship Course Tracking

Authors : Hongxin Wu, Chen Guo, Yingkai Lou

Published in: Proceedings of 2017 Chinese Intelligent Automation Conference

Publisher: Springer Singapore

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Abstract

Ship is a typical multi-input and multi-output nonlinear system, which has the characteristics of large inertia and large time delay. In this paper, the mathematical model of the twin-rudder twin-propeller ship with interference under oceanic navigation conditions is established by using MMG separation model. In order to overcome the disturbances, a nonlinear iterative sliding mode (NISM) controller based on Cerebellar Model Articulation control algorithm (CMAC) is presented. And nonlinear iterative sliding mode controller is designed with strictly bounded hyperbolic tangent nonlinear function tanh(x). The stability of the algorithm is proved by the Lyapunov theory. In addition, numerical simulation of course control is carried out, and the simulation results show that the controller can get better performance.

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Metadata
Title
CMAC and NISM Integrated Controller for Twin-Rudder Twin-Propeller Ship Course Tracking
Authors
Hongxin Wu
Chen Guo
Yingkai Lou
Copyright Year
2018
Publisher
Springer Singapore
Book
Proceedings of 2017 Chinese Intelligent Automation Conference

Print ISBN: 978-981-10-6444-9

Electronic ISBN: 978-981-10-6445-6

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-981-10-6445-6_63