Abstract This paper proposes a controller for pod-driven surface ships based on adaptive backstepping with integrator. The pod propulsion has the advantages of higher efficiency and better maneuvrability compared with the conventional propulsion, and large steering-induced heeling angle with the possibly large steering forces. The adaptive backstepping is normally used in the systems including uncertainty information or unknown parameters and the integrator can be added to eliminate the constant static error. Simulation results show that compared with the PID controller, the adaptive backstepping with integrator is much better in overshoot, adjusting time, and static error without disturbance and in chattering with disturbance.
The Heading Control of POD-Driven Ship Using Adaptive Integrator Backstepping
Proceedings of the 5th International Conference on Electrical Engineering and Automatic Control ; 173-179
2016-01-01
7 pages
Article/Chapter (Book)
Electronic Resource
English