期刊
OCEAN ENGINEERING
卷 32, 期 11-12, 页码 1350-1369出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2004.11.003
关键词
nonlinear systems; modelling; trajectory planning; adaptive control; backstepping; tuning functions design
This work presents a novel contribution to solve the problem of identification of ship models parameters using the temporal variation data of the yaw angle achieved from a particular trial test as the turning circle. A relatively complex nonlinear model of Wagner-Smith has been chosen as basis because it represents the ship's dynamics appropriately as proved through the experimental measures obtained in a particular ship. The proposed algorithm of identification of the six ship model parameters is based on the combination of two sub-algorithms: the backstepping procedure and the tuning design method. The simulation results show the suitability of the proposed procedure. (c) 2005 Elsevier Ltd. All rights reserved.
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