A robust neuro-based adaptive control system design for a surface effect ship with uncertain dynamics and input saturation to cargo transfer at sea. (May 2018)

• Record Type: Journal Article
• Authors: Esmailian, Ehsan; Farzanegan, Behzad; Menhaj, Mohammad Bagher; Ghassemi, Hassan
• Is Part Of: Applied ocean research. Volume 74(2018)
• Page Start: 59
• Page End: 68
• Publication Date: 2018-05
• Subjects: Cargo transfer -- Neural network control -- Uncertain dynamics and disturbances -- Critical sea conditions -- Surface effect ship -- Saturation constraint; Ocean engineering -- Periodicals; 620.416205
• DOI: 10.1016/j.apor.2018.02.010
• Languages: English
• ISSNs: 0141-1187

Abstract

Highlights: Safely cargo transfer problem over a ramp between a cargo vessel and a lighter surface effect ship (SES) is solved. A robust adaptive neural network (NN) controller is proposed in the presence of entirely unknown dynamics and disturbances as well as input saturation. To deal with the nonlinearity, a new nonlinear model is developed. To deal with the system dynamic effects on the neural network's updating weights, sensitive terms are injected into the NN updating rules. A comparative analysis with model-based approaches is provided to demonstrate the performance of the proposed control system. Abstract: This paper is concerned with the problem of safely cargo transfer over a ramp between a cargo vessel and a lighter surface effect ship (SES). For this purpose, an adaptive neural network (NN) controller is proposed to control of ramp motions in the presence of entirely unknown dynamics and disturbances wherein the controller is subject to input saturation constraint. In this regard, we develop a novel non-affine nonlinear SES model by considering the nonlinear relationship among the air cushion pressure, the air flow into and out of the air cushion and the air cushion volume. To deal with the saturation constraint, an auxiliary system is proposed. To ensure the system stability, Lyapunov's direct method is employed to investigate the uniformly ultimately boundedness (UUB) of all closed-loop system states. The simulation results demonstrate the effectiveness of the proposed controller in critical sea conditions, including regular and irregular waves with high frequencies and large amplitudes. A comparative analysis with model-based approaches including Proportional Integral Derivative (PID) and Linear-Quadratic Regulator (LQR) control systems are given to highlight the performance of the controller.