A Study on Automatic Ship Berthing Using Parallel Neural Controller(2nd Report) : Motion Identification Considering Lateral Speed and Angular Velocity to cope with Disturbances
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概要
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In this paper, motion identification using ANN and its application to automatic ship berthing will be discussed. Motion identification method is adopted to estimate the effect of disturbances and then a difference between values of identification and state variables is used to overcome an effect of disturbance. Two rule based-algorithms using the difference are proposed to cope with the effect of the disturbance. The first algorithm adjusts value of input units in ANN, which control a ship to keep desired route and to bring the ship to berthing point. The second algorithm calculates correction of rudder angle to increase or decrease angular velocity, which is affected by disturbance effect. Finally numerical simulations are carried out with this control system to find its improvement under disturbance.
- 社団法人日本船舶海洋工学会の論文
- 2002-03-25
著者
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長谷川 和彦
Dept. Of Naval Architecture And Ocean Engineering Osaka University
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林 南均
Dept. of Naval Architecture and Ocean Engineering, Osaka University
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林 南均
Dept. Of Naval Architecture And Ocean Engineering Osaka University
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- A Study on Automatic Ship Berthing Using Parallel Neural Controller(2nd Report) : Motion Identification Considering Lateral Speed and Angular Velocity to cope with Disturbances
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