Automatic Berthing Finite-time Control Considering Transmission Load Reduction

• 발행기관: 한국항해항만학회
• 저자명: Liu Yang Im Nam-kyun
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2022 추계학술대회논문집, 168~169쪽, 전체 2쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2022.11.10

국문 초록

In this study, we investigates the auto-berthing problem for the underactuated surface vessel in the presence of constraints of dynamic uncertainties, finite time, transmission load, and environmental disturbance. A novel control scheme is proposed by fusing the finite time control technology and the event-triggered input algorithm. In the algorithm, differential homeomorphism coordinate the transformation is used to solve the problem of underactuation. Then, we apply the finite time technology and event triggered to save the time of the berthing vessel and relieve transmission burden between the controller and the vessel respectively. Moreover, a radial basis function network is used to approximate unknown nonlinear functions, and minimum learning parameters are introduced to lessen the computational complexity. A sufficient effort has been made to verify the stability of the closed-loop system based on the Lyapunov stability theory. Finally, simulation results display the effectiveness of the proposed scheme.

키워드

auto-berthing control finite-time control event-triggered underactuated vessel