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World Congress on Intelligent control and Automation (WCICA)

作者： Xianku Zhang Chen Guo Laboratory of Simulation and Control of Navigation Systems Dalian Maritime University Dalian China

Asymmetric information theory was introduced in this paper. For a nonlinear course keeping system for ships, the PID parameters were tuned using profound exact feedback linearization algorithm and closed-loop gain shaping algorithm. A nonlinear robust PID controller was designed; the information transmitting capacity was strengthened through simplifying the exact feedback linearization controller into two parts, i.e. the nonlinear items plus a linear robust PID controller. The algorithm is applicable in engineering and the simulation results show that the course-keeping performance is improved

关键词： Information theory Robust control Three-term control Linear feedback control systems control system synthesis navigation Marine vehicles Robustness Intelligent control Automation

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Robust Neural Network and Its Application to Course-keeping for Ships

Robust Neural Network and Its Application to Course-keeping ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xianku Zhang Xiaofei Lu Chen Guo Laboratory of Simulation and Control of Navigation Systems Dalian Maritime University Dalian China

A feed-forward network with seven layers was designed and trained to acquire an open loop controller of course-keeping for ships. The NNC controller with five inputs and one output could follow the tacks of typical course curve with good precision, then a closed loop control system was constructed using closed loop gain shaping algorithm. The robustness of the system is improved because the control strategy connects the adaptability and nonlinear mapping of neural network with robustness of closed loop gain shaping algorithm. This method has the advantages of simple design procedure and obvious physical sense

关键词： Robustness Neural networks Marine vehicles Open loop systems Shape control control systems Robust control control system synthesis navigation Feedforward systems

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Reinforcement learning control for ship steering using recursive least-squares algorithm

Reinforcement learning control for ship steering using recur...

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作者： Shen, Zhi-Peng Guo, Chen Yuan, Shi-Chun Lab. of Simulation and Control of Navigation Systems Dalian Maritime Univ. Dalian 116026 China State Key Laboratory of Intelligent Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)008045108X

Recursive least-squares temporal difference algorithm (RLS-TD) is deduced, which can use data more efficiently with fast convergence and less computational burden. Reinforcement learning based on recursive least-squares methods is applied to ship steering control, as provides an efficient way for the improvement of ship steering control performance. It removes the defect that the conventional intelligent algorithm learning must be provided with some sample data. The parameters of controller are on-line learned and adjusted. simulation results show that the ship course can be properly controlled in case of the disturbances of wave, wind, current. It is demonstrated that the proposed algorithm is a promising alternative to conventional autopilots. Copyright © 2005 IFAC.

关键词： Learning algorithms

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New Method on Design of Robust controller for Unstable Process

New Method on Design of Robust Controller for Unstable Proce...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Xian-Ku Zhang Laboratory of Simulation and Control of Navigation Systems Dalian Maritime University Dalian China

In the formulation of H∞ weighted mixed sensitivity problem, any unstable poles of the plant inside the specified control bandwidth will be shifted approximately to its jω-axis mirror image once the feedback loop is closed with an H∞ controller. The symmetric values of zero-poles in the open right-half plane of the unstable process about the imaginary axis are defined as their mirror-images. An unstable process is transformed into a minimum-phase system through mirror-injection in the paper, then solving the robust controller using closed-loop gain shaping algorithm. When the plant is a pure unstable process whose all poles lie in the open right half plane it is loop-shaped through adding left half plane poles and zeros so that the system is converted into a regular unstable system, then the loop-shaped unstable process is transformed into a minimum-phase system through mirror-injection, the robust controller is acquired using closed-loop gain shaping algorithm. Because its largest singular value curves are similar before or after the unstable process is mirror-injected, and the closed-loop gain shaping algorithm constructs directly the robust controller using parameters having engineering sense according to the shape of the singular value curves of the robust performance index, the designed controller has equally robustness to the unstable process. The method has the advantages of simple design procedure and obvious physical meaning.

关键词： Design methodology Robust control Process control Open loop systems Shape control control systems Bandwidth Mirrors Feedback loop Poles and zeros

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REINFORCEMENT LEARNING control FOR SHIP STEERING USING RECURSIVE LEAST-SQUARES ALGORITHM

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IFAC Proceedings Volumes 2005年第1期38卷 133-138页

作者： Zhi-peng Shen Chen Guo Shi-chun Yuan Lab of Simulation and Control of Navigation Systems Dalian Maritime Univ. Dalian 116026 China State Key Laboratory of Intelligent Technology and system Tsinghua University Beijing 100084 China

关键词： Recursive squares methods Learning algorithm Action network Ship control simulation

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Adaptive robust nonlinear design of course keeping ship steering autopilot

Adaptive robust nonlinear design of course keeping ship stee...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Jialu Du Chen Guo Yongsheng Zhao Yingjun Bi School of Automation and Electrical Engineering Dalian Maritime University Dalian China Laboratory of simulation and Control of Navigation Systems Dalian Maritime University Dalian China

ISBN: (纸本)0780386531

This paper develops an adaptive robust control design strategy for automatic steering of ships with unknown parameters under unknown environmental disturbances induced by wave, wind, and ocean current. Based on the incorporation of the Nussbaum-type function into backstepping design and some technical lemmas, the proposed design method does not require a priori knowledge of the sign of the unknown coefficient. It is proved that the designed adaptive robust controller can guarantee the uniform ultimate boundedness of the resulting closed-loop system signals. The control performance can be guaranteed by an appropriate choice of the design parameters. simulation results on a 45 meters long ship are presented to validate the proposed controller.

关键词： Robustness Marine vehicles Programmable control Adaptive control Robust control Oceans Backstepping Design methodology Signal design control systems

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Nonlinear adaptive course keeping control of ships based on backstepping and Nussbaum gain

Nonlinear adaptive course keeping control of ships based on ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Jialu Du Chen Guo Rutie Li Li Qing School of Automation and Electrical Engineering Dalian Maritime University Dalian China Laboratory of simulation and Control of Navigation Systems Dalian Maritime University Dalian China

ISBN: (纸本)0780382730

A new nonlinear adaptive control algorithm is proposed for parametric uncertainty ship course nonlinear system. This algorithm incorporates the technique of Nussbaum-type function into backstepping design and does not require a prior knowledge about control directions. In the light of the presented method, we design a nonlinear adaptive ship course-keeping controller and the control law is smooth. It is theoretically proved that the designed adaptive controller guarantees uniform boundedness of all signals in the resulting ship course steering nonlinear system and convergence of the course error to zero. The simulation results for ship "Daqing232" show that the designed controller is effective.

关键词： Programmable control Adaptive control Marine vehicles Backstepping Nonlinear systems Lighting control Uncertainty Algorithm design and analysis Design methodology Signal design

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Study on ship steering based on hybrid intelligent control

Study on ship steering based on hybrid intelligent control

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American control Conference (ACC)

作者： Guoxun Yang Chen Guo Xinle Jia Laboratory of Simulation and Control of Navigation Systems Dalian Maritime University Dalian China

ISBN: (纸本)0780372980

Hybrid intelligent technique is used in ship steering control. It can make full use of the advantages of all kinds of intelligent algorithms. This provides an efficient way for the improvement of ship steering control performance. In this paper, genetic algorithm optimization is used in off-line learning period. According to the new definition of fitness function, the optimized result obtained is more suitable to the actual situation. In online learning period, reinforcement learning and neural fuzzy control are integrated. It removes the defect that the conventional hybrid intelligent algorithm learning must be provided with some sample data, and. the ship control quality is effectively improved in the case of appending additional sea state disturbance.

关键词： Marine vehicles Intelligent control Neural networks Fuzzy control Fuzzy neural networks Intelligent robots Uncertainty Supervised learning control system synthesis navigation

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Hybrid intelligent control algorithm to ship steering based on soft computing

Hybrid intelligent control algorithm to ship steering based ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Guoxun Yang Chen Guo Xinle Jia Yiding Zhang Laboratory of Simulation and Control of Navigation Systems Dalian Maritime University Dalian China College for Staff and Workers of China Changjiang National Shipping Group Wuhan China

A hybrid intelligent technique is used for ship steering control in this paper. GA optimization is used for the off-line learning period. According to the new definition of fitness function, the optimized result obtained is more suitable to the actual situation. In an online learning period, the reinforcement learning and neural fuzzy control are integrated. It removes the drawback of the conventional hybrid intelligent algorithm that learning must be provided with some sample data, and the ship control quality is effectively improved in the case of appending additional sea state disturbance.

关键词： Intelligent control Marine vehicles Fuzzy control Computational modeling control system synthesis navigation Educational institutions Automatic control Genetic algorithms Automation

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