한국항해항만학회지 (Journal of Navigation and Port Research)

  • 제30권2호
  • /
  • Pages.119-124
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  • 2006
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  • 1598-5725(pISSN)
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  • 2093-8470(eISSN)
한국항해항만학회 (Korean Institute of Navigation and Port Research)
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An Adaptive Autopilot for Course-keeping and Track-keeping Control of Ships using Adaptive Neural Network (Part II: Simulation Study)

  • 발행 : 2006.03.01
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초록

In Part I(theoretical study) of the paper, a new adaptive autopilot for ships based on Adaptive Neural Networks was proposed. The ANNAI autopilot was designed for course-keeping, turning and track-keeping control for ships. In this part of the paper, to show the effectiveness and feasibility of the ANNAI autopilot and automatic selection algorithm for learning rate and number of iterations, computer simulations of course-keeping and track-keeping tasks with and without the effects of measurement noise and external disturbances are presented. Additionally, the results of the previous studies using Adaptive Neural Network by backpropagation algorithm are also showed for comparison.

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참고문헌

  1. Fossen, T. I. (2002), 'Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles', Marine Cybernetics, Trondheim, Norway. ISBN 82-92356-00-2
  2. Nguyen, P. H. (2005), 'The theory and applications in automatic ship's control of neural networks', Research Report. Dept. of Ship Operation Systems Eng., Korea Maritime University
  3. Nguyen, P. H., Jung, Y. C. (2005), 'An Adaptive Autopilot for Course-keeping Control of Ships using Adaptive Neural Network (Part I: Theoretical Study)', International Journal of Navigation and Port Research (KINPR), Vol.29, No.9 pp.771-776, ISSN-1598-5725 https://doi.org/10.5394/KINPR.2005.29.9.771
  4. Saikalis, G. and Lin, F. (2001), 'A Neural Network Controller by Adaptive Interaction', Proceeding of the American Control Conference, Arlington (pp. 1247-1252)
  5. Zhang, Y., Heam, G. E. and Sen, P. (1997a), 'Neural network approaches to a class of ship control problems (Part I: Theoretical design)', Eleventh Ship Control Systems Symposium Vol. 1 (Edited by P. A. Wilson)
  6. Zhang, Y., Heam, G. E. and Sen, P. (1997b) , 'Neural network approaches to a class of ship control problems (Part II: Simulation studies)', Eleventh Ship Control Systems Symposium Vol. 1 (Edited by P. A. Wilson)