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dc.contributor.authorSkulstad, Robert
dc.contributor.authorLi, Guoyuan
dc.contributor.authorZhang, Houxiang
dc.contributor.authorFossen, Thor I.
dc.date.accessioned2019-02-19T08:21:16Z
dc.date.available2019-02-19T08:21:16Z
dc.date.created2018-10-25T11:30:37Z
dc.date.issued2018
dc.identifier.citationIFAC-PapersOnLine. 2018, 51 (29), 128-133.nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2586089
dc.description.abstractDynamic Positioning (DP) of ships is a control mode that seeks to maintain a specific position (stationkeeping) or perform low-speed maneuvers. In this paper, a static Neural Network (NN) is proposed for control allocation of an over-actuated ship. The thruster force and commands are measured during a trial run of the simulated vessel to gather data for training of the NN. Then the network is trained and used to transform the virtual force commands from a motion controller into individual thruster commands. A standard Proportional Integral Derivative (PID) controller, using wave-filtered position and heading measurements, is implemented as motion controller for each Degree Of Freedom (DOF) of the ship. For a DP application the controllable DOFs are the translational motion in surge and sway directions, as well as the rotation about its up/down axis. Simulation tests were performed to verify the feasibility of this approach.nb_NO
dc.language.isoengnb_NO
dc.publisherInternational Federation of Automatic Control (IFAC)nb_NO
dc.titleA Neural Network Approach to Control Allocation of Ships for Dynamic Positioningnb_NO
dc.title.alternativeA Neural Network Approach to Control Allocation of Ships for Dynamic Positioningnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionpublishedVersionnb_NO
dc.source.pagenumber128-133nb_NO
dc.source.volume51nb_NO
dc.source.journalIFAC-PapersOnLinenb_NO
dc.source.issue29nb_NO
dc.identifier.doi10.1016/j.ifacol.2018.09.481
dc.identifier.cristin1623408
dc.relation.projectNorges forskningsråd: 237929nb_NO
dc.description.localcode© 2018 IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.nb_NO
cristin.unitcode194,64,93,0
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for havromsoperasjoner og byggteknikk
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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