Design of New Model-free Sliding Mode Ship Course-keeping Controllers
| Autor: | Chen, Li-Chao, 陳立超 |
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| Rok vydání: | 2018 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 106 The purpose of this thesis is to explore the design of new model-free sliding mode ship course-keeping controllers in the case that the dynamic equation of the ship is unknown. We propose a new ultra-local model for iPID design and a new on-line parameter estimation method. Based on the obtained ultra-local model, we construct an error state space model and the design a ship course-keeping controller by combining iPID control and sliding mode control approaches. Finally, simulations and experiments validate the practicability of the proposed method. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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