Full Content is available to subscribers

Subscribe/Learn More  >

Robust Control for Ship Course-Keeping Based on Support Vector Machines: Particle Swarm Optimization and L2-Gain

[+] Author Affiliations
Weilin Luo, Carlos Guedes Soares

Technical University of Lisbon, Lisbon, Portugal

Bin Fu

Fuzhou University, Fujian, China

Zaojian Zou

Shanghai Jiao Tong University, Shanghai, China

Paper No. OMAE2013-11076, pp. V005T06A070; 7 pages
  • ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 5: Ocean Engineering
  • Nantes, France, June 9–14, 2013
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5539-3
  • Copyright © 2013 by ASME


To achieve a robust autopilot for ship course-keeping, a controller based on support vector machines (SVM) and L2-gain is proposed. A cascaded plant consists of a nonlinear ship response model and the rudder actuator dynamics. Uncertainties including modeling errors and external disturbances are taken into account in the response model. SVM is applied to identify the complicated nonlinear dynamics including the modeling errors, while L2-gain design is used to suppress the uncertain disturbances. To obtain the optimized structural parameters in SVM, particle swarm optimization (PSO) method is incorporated. Stability analysis and simulation results demonstrate the validity of the proposed control scheme.

Copyright © 2013 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In