http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Haomiao Yu (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
Yulong Tuo,ShashaWang,Chen Guo,Haomiao Yu,Zhipeng Shen 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.2
In this paper, an event driven backstepping positioning controller based on the structural reliability is developed for a turret-moored floating production storage and offloading (FPSO) vessel with unknown slow timevarying disturbances. The mathematical model of the FPSO vessel is given at first. Secondly, to make full use of the positioning capability of mooring system while ensuring the safety of mooring lines, a continuous backstepping positioning controller is designed based on the structural reliability of the mooring system; in the meanwhile, a disturbance observer is designed to handle the unknown disturbances. Then, the proposed event driven positioning controller is achieved based on the designed continuous controller by designing suitable event driven conditions, which can determine the updated time instants of the event driven positioning controller. The proposed positioning controller can not only guarantee the uniform ultimate boundness of the errors for structural reliability and heading but also ensure that no Zeno behavior occurs. Finally, the simulations demonstrate that the proposed event driven positioning controller’s performance while reducing the execution times of FPSO vessel’s actuators.
-
Yannan Bi,Zhipeng Shen,Qun Wang,Haomiao Yu,Chen Guo 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.12
This article investigates the adaptive tracking control problem for the marine surface vessels (MSVs) with unknown uncertainties and multiple constraints. Firstly, a novel prescribed performance-based time-varying asystematic barrier Lyapunov function (PP-TABLF) is proposed to control the MSVs to navigate in a variable narrow waterway and to improve the transient performance of MSVs. Secondly, the predictor-based radial basis function neural networks (P-RBFNNs) are developed to approximate the system uncertainties and external disturbances. Specifically, the tracking errors of the RBFNNs are estimated in advance, and the prediction errors are utilized to update the RBFNNs and improve the estimation precision. The command filter and the idea of the recursive sliding mode are integrated with the control law to limit the amplitude of the virtual control signals and to reduce the computational burden. With the proposed control scheme, tracking errors will not override the prescribed performance ranges, and the control force will not be violated in the presence of total unknown uncertainties. Finally, the semi-global uniformly ultimate boundedness of the system is guaranteed by the proposed control scheme, and the simulation results are given to further demonstrate the effectiveness of the proposed approach.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
