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Experimental study of intelligent autopilot for surface vessels based on neural network Optimised PID controller


Wang, Yufei and Wang, Yuanyuan and Nguyen, HD, Experimental study of intelligent autopilot for surface vessels based on neural network Optimised PID controller, Proceedings of the 31st Chinese Control and Decision Conference (2019 CCDC), 03-05 June 2019, Nanchang, China, pp. 27-34. ISBN 9781728101071 (2019) [Refereed Conference Paper]

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DOI: doi:10.1109/CCDC.2019.8833314


As all ships are required to operate with sufficient reliability and appropriate economy, it is necessary to achieve good controlling at reasonable costs. Autopilot systems have a momentous influence on the performance of ships, enabling them to cruise in various sea conditions without human interventions. This paper introduces a Radial Basis Function Neural Network (RBFNN) based Proportional Integral Differential (PID) autopilot system for a surface vessel. In the proposed control algorithm, the RBFNN trained by adaptive mechanism was utilized to approximate the realistic ship’s behaviours, thereby updating the parameters of the discretising PID based controller in real time, so as to compensate for the environmental disturbances and uncertainties during the ship’s sailing. In order to validate the efficiency of the proposed algorithm, the experiments were conducted in a lake by using the free running model scaled ship ‘Hoorn’. The experimental results indicate that the proposed RBFNN PID based autopilot can decrease the course keeping deviations with reasonable rudder actions.

Item Details

Item Type:Refereed Conference Paper
Keywords:Radial basis function neural network, autopilot, course keeping, experimental study
Research Division:Engineering
Research Group:Maritime engineering
Research Field:Ship and platform structures (incl. maritime hydrodynamics)
Objective Division:Transport
Objective Group:Water transport
Objective Field:Water transport not elsewhere classified
UTAS Author:Wang, Yufei (Mr Yufei Wang)
UTAS Author:Wang, Yuanyuan (Mr Yuanyuan Wang)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
ID Code:150850
Year Published:2019
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2022-07-03
Last Modified:2022-08-30

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