Ma Chao, Zhang Xianku, Yang Guangping. Improved nonlinear control for ship course-keeping based on Lyapunov stability[J]. Chinese Journal of Ship Research, 2019, 14(1): 150-155, 161. DOI: 10.19693/j.issn.1673-3185.01111
Citation: Ma Chao, Zhang Xianku, Yang Guangping. Improved nonlinear control for ship course-keeping based on Lyapunov stability[J]. Chinese Journal of Ship Research, 2019, 14(1): 150-155, 161. DOI: 10.19693/j.issn.1673-3185.01111

Improved nonlinear control for ship course-keeping based on Lyapunov stability

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  • Received Date: November 30, 2017
  • Available Online: May 07, 2021
© 2019 The Authors. Published by Editorial Office of Chinese Journal of Ship Research. Creative Commons License
This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
  •   Objectives  Course-keeping for ships is the core of automatic navigation in marine transportation, and it cannot be achieved without the design of the nonlinear controller. In order to simplify the design process, improve the robustness of the system and save the energy output of the controller, this paper proposes a nonlinear feedback controller based on the Lyapunov function.
      Methods  By constructing a simplified Lyapunov function, the design process of the nonlinear controller is shortened and the cancellation of the nonlinear term of the control law avoided. The design of the control system can be optimized by replacing the course error with a nonlinear function of itself in the feedback loop. This optimization reduces energy consumption and improves the robustness of the system.
      Results  Taking the ship 'Yu Peng' as an example, the simulation results show that the improved nonlinear control algorithm possesses good performance and robustness, and reduces energy consumption.
      Conclusions  The results of this paper show that the introduction of a nonlinear feedback term can optimize the control system, and the energy saving advantages of such a measure are of great significance for practical engineering application.
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