<abstract xmlns="http://www.w3.org/1999/xhtml"><p> The article discusses the issue of designing a dynamic ship positioning system making use of the adaptive vectorial backstepping method and RBF type artificial neural networks. In the article, the backstepping controller is used to determine control laws and neural network weight adaptation laws. The artificial neural network is applied at each time instant to approximate nonlinear functions containing parametric uncertainties. The proposed control system does not require precise knowledge of the model of ship dynamics and external disturbances, it also eliminates the problem of analytical determination of the regression matrix when designing the control law with the aid of the adaptive backstepping procedure.</p></abstract>

The article discusses the issue of designing a dynamic ship positioning system making use of the adaptive vectorial backstepping method and RBF type artificial neural networks. In the article, the backstepping controller is used to determine control laws and neural network weight adaptation laws. The artificial neural network is applied at each time instant to approximate nonlinear functions containing parametric uncertainties. The proposed control system does not require precise knowledge of the model of ship dynamics and external disturbances, it also eliminates the problem of analytical determination of the regression matrix when designing the control law with the aid of the adaptive backstepping procedure.

Dynamically Positioned Ship Steering Making Use of Backstepping Method and Artificial Neural Networks

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

The article discusses the issue of designing a dynamic ship positioning system making use of the adaptive vectorial backstepping method and RBF type artificial...

Dynamically Positioned Ship Steering Making Use of Backstepping Method and Artificial Neural Networks

Data publikacji: 18 sty 2019

Zakres stron: 5 - 12

DOI: https://doi.org/10.2478/pomr-2018-0126

Słowa kluczowe
backstepping, neural networks, RBF, dynamic ship positioning

© 2019 Anna Witkowska, Tacjana Niksa Rynkiewicz, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Dynamically Positioned Ship Steering Making Use of Backstepping Method and Artificial Neural Networks

Data publikacji: 18 sty 2019

Zakres stron: 5 - 12

DOI: https://doi.org/10.2478/pomr-2018-0126

Słowa kluczowebackstepping, neural networks, RBF, dynamic ship positioning

© 2019 Anna Witkowska, Tacjana Niksa Rynkiewicz, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Słowa kluczowe
backstepping, neural networks, RBF, dynamic ship positioning