Adaptive neural network fault-tolerant sliding mode control for ship berthing with actuator faults and input saturation

IF 2.3 3区 工程技术 Q2 ENGINEERING, MARINE
Son Tung Vu , Thai Duong Nguyen , Hai Van Dang , Van Suong Nguyen
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引用次数: 0

Abstract

This paper develops a robust controller for automatic ship berthing subjected to actuator faults, input saturation, modeling uncertainties, and external disturbances. First, sliding mode control (SMC) is used as a core controller to provide robust features for the ship berthing system. Second, fault-tolerant control (FTC) is combined with the controller to face the actuator faults. Third, the radial basis function (RBF) neural network is employed to approximate the modeling uncertainties while the effect of external disturbances is compensated by an adaptive control technique. In addition, an anti-saturation auxiliary system is conducted to deal with the input saturation for physical limitations of the actuators. Finally, numerical simulation and comparison of the results with the other control approaches are carried out to highlight the advantages of the proposed controller.
具有执行器故障和输入饱和的船舶靠泊自适应神经网络容错滑模控制
针对船舶自动靠泊系统中执行器故障、输入饱和、建模不确定性和外部干扰等问题,设计了一种鲁棒控制器。首先,采用滑模控制作为核心控制器,为船舶靠泊系统提供鲁棒性。其次,将容错控制(FTC)与控制器相结合,以应对执行器故障。第三,采用径向基函数(RBF)神经网络逼近建模不确定性,同时采用自适应控制技术补偿外部干扰的影响。此外,由于执行器的物理限制,设计了抗饱和辅助系统来处理输入饱和。最后进行了数值仿真,并与其他控制方法的结果进行了比较,以突出所提控制器的优点。
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来源期刊
CiteScore
4.90
自引率
4.50%
发文量
62
审稿时长
12 months
期刊介绍: International Journal of Naval Architecture and Ocean Engineering provides a forum for engineers and scientists from a wide range of disciplines to present and discuss various phenomena in the utilization and preservation of ocean environment. Without being limited by the traditional categorization, it is encouraged to present advanced technology development and scientific research, as long as they are aimed for more and better human engagement with ocean environment. Topics include, but not limited to: marine hydrodynamics; structural mechanics; marine propulsion system; design methodology & practice; production technology; system dynamics & control; marine equipment technology; materials science; underwater acoustics; ocean remote sensing; and information technology related to ship and marine systems; ocean energy systems; marine environmental engineering; maritime safety engineering; polar & arctic engineering; coastal & port engineering; subsea engineering; and specialized watercraft engineering.
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