シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2011/12
形態種別	学術論文
査読	査読あり
標題	Adaptive Fuzzy Control for Path Tracking of the Underactuated Ships Based on the Dynamic Equilibrium State Theory
執筆形態	共著
掲載誌名	International Journal of Computational Intelligence Systems
出版社・発行元	Taylor & Francis Group
巻・号・頁	4(6),pp.1148-1157
著者・共著者	Dehui Qiu, Qinglin Wang, Jie Yang, and Jinhua She
概要	This paper presents an adaptive fuzzy backstepping control method that incorporates the dynamic equilibrium state (DES) theory to carry out path tracking for underactuated ships in presence of parameter variations and external disturbances induced by wind, wave and current. First, the optimal DES reference trajectories are designed for the sway displacement and the yaw angle. Then, by combining the DES theory with backstepping technology and using fuzzy logic systems to approximate unknown nonlinear functions in the system, a robust adaptive fuzzy controller is designed to track the prescribed trajectories. Theoretical analysis and simulation results show that the proposed method performs path tracking of underactuated ships with high precision, eliminates the influence of the uncertainties, and guarantees global stability and robustness of the system.
DOI	10.1080/18756891.2011.9727863