Details

Autor(en) / Beteiligte

• Lu, Run
• Zhang, Guichen
• Shi, Jianqiang
• Zhu, J.

Titel

Adaptive RBF -SMC control for multi-point mooring system

Ist Teil von

• MATEC Web of Conferences, 2022, Vol.355, p.3063

Ort / Verlag

Les Ulis: EDP Sciences

Erscheinungsjahr

2022

Quelle

Elektronische Zeitschriftenbibliothek (Open access)

Beschreibungen/Notizen

• 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.