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논문 기본 정보
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- 2012.1
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In this paper, an adaptive fuzzy control system is proposed for the speed control of the ASV (Autonomous Surface Vehicle) with nonaffine nonlinear system dynamics. We consider the turning speed of the screw propeller to be the control input instead of thrust so that we do not have to know the exact function between turning speed and thrust. But in this case, the ASV becomes a nonaffine nonlinear system because thrust is a nonlinear function of the turning speed. To solve this problem, we propose a Takagi-Sugeno fuzzy-model-based control system and simulation studies are performed. Simulation results show the effectiveness of the proposed control scheme.
목차
Abstract
I. 서론
II. 모델 보트의 동특성식
III. 제어기 설계
IV. 시뮬레이션
V. 결론
참고문헌
참고문헌 (9)
참고문헌 신청
1. [단행본] - T. I. Fossen / 1994 / Guidance and Control of Ocean Vehicles / John Wiley and Sons Ltd
2. [단행본] - T. I. Fossen / 2002 / Marine Control Systems / Marine Cybernetics AS
3. [학술지(정기간행물)] - R. Skjetne / 2004 / A nonlinear ship maneuvering model: identification and adaptive control with experiments for a model ship / Modeling, Identification and Control 25 (1) : 3 ~ 27
4. [학술지(정기간행물)] - K.-P. Lindegaard / 2003 / Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship / IEEE Transactions on Control Systems Technology 11 (6) : 850 ~ 862
5. [학술대회논문] - R. Ghaemi / 2010 / Path following of a model ship using model predictive control with experimental verification / 2010 American Control Conference : 5236 ~ 5241
2. [단행본] - T. I. Fossen / 2002 / Marine Control Systems / Marine Cybernetics AS
3. [학술지(정기간행물)] - R. Skjetne / 2004 / A nonlinear ship maneuvering model: identification and adaptive control with experiments for a model ship / Modeling, Identification and Control 25 (1) : 3 ~ 27
4. [학술지(정기간행물)] - K.-P. Lindegaard / 2003 / Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship / IEEE Transactions on Control Systems Technology 11 (6) : 850 ~ 862
5. [학술대회논문] - R. Ghaemi / 2010 / Path following of a model ship using model predictive control with experimental verification / 2010 American Control Conference : 5236 ~ 5241
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UCI(KEPA) : I410-ECN-0101-2014-569-000724253