Simensen, R., and Murray-Smith, D.J. (1995) Ship steering control by neural networks trained using feedback linearization control laws. In: IFAC/IMACS International Workshop on Artificial Intelligence in Real-Time Control, 1995, Bled, Slovenia.
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One problem of ship steering systems is that the dynamics of the vessel are dependent on the forward speed. Since artificial neural networks can provide a nonlinear controller which performs well for a wide range of plant dynamics, such networks are of potential interest for ship steering applications. This paper describes simulation studies in which a feed-forward network is trained to behave like a feedback linearization controller. Results suggest that the approach can yield a control system having a satisfactory level of performance for a range of operating conditions. The choice of network configuration and training data sets are, however, of considerable importance.
|Item Type:||Conference Proceedings|
|Additional Information:||Published in J. Kocijan and R. Karba (editors) Proceedings 1995 IFAC/IMACS International Workshop on Artificial Intelligence in Real-Time Control, IFAC, 1995.|
|Keywords:||Neural networks, ship control, feedback linearization, backpropagation algorithm|
|Glasgow Author(s):||Murray-Smith, Prof David|
|Authors:||Simensen, R., and Murray-Smith, D.J.|
|Subjects:||Q Science > QA Mathematics > QA76 Computer software|
T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
|College/School:||College of Science and Engineering > School of Engineering > Systems Power and Energy|