Issue |
MATEC Web Conf.
Volume 355, 2022
2021 International Conference on Physics, Computing and Mathematical (ICPCM2021)
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Article Number | 03063 | |
Number of page(s) | 12 | |
Section | Computing Methods and Computer Application | |
DOI | https://doi.org/10.1051/matecconf/202235503063 | |
Published online | 12 January 2022 |
Adaptive RBF -SMC control for multi-point mooring system
Merchant Marine College, Shanghai Maritime University, 1550 Haigang Ave, Shanghai 201306, P. R. China
* Corresponding author: lurun2018@163.com
A stable adaptive control scheme for multi-point mooring system (MPMS) with uncertain dynamics is proposed in this paper. The control scheme is designed by a hybrid controller based on RBF (Radial Basis Function) NN (Neural Network) and SMC (Sliding Mode Control), which learns the MPMS dynamic changes, and the compensation of external disturbances is realized through adaptive RBFNN control. Meanwhile the RBF-SMC control parameters are adapted by the Lyapunov method to minimize squares dynamic positioning (DP) error. The convergence of the hybrid controller is proved theoretically, and the proposed mooring control scheme is applied to the “Kantan3” mooring simulation system. Finally, the simulation results are compared with the traditional PID controller and standard RBF controller to demonstrate the effective mooring positioning performance of the control scheme for the MPMS.
Key words: Multi-point mooring / Dynamic positioning / SMC, RBF
© The Authors, published by EDP Sciences, 2022
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