Automatic steering of ships using neural networks

International Journal of Adaptive Control and Signal Processing

Volumn 13, Issue 4, 1999, Pages 203-218

  Unar, M A ^a   Murray Smith, D J ^a  

^a UNIVERSITY OF GLASGOW   (United Kingdom)

Author keywords

Local model network; Radial basis function network; Ship modelling; Ship steering control

Indexed keywords

EID: 0004005233     PISSN: 08906327     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1099-1115(199906)13:4<203::AID-ACS544>3.0.CO;2-T     Document Type: Article

References (53)

1. Minorsky, N., 'Directional stability of automatically steered bodies', J. Naval Eng., XXXIV, 280-309 (1922).
2. Sperry, E., 'Automatic steering', Trans. SNAME, 53-57 (1922).
3. Hondered, G. and J. E. W. Winkelman, 'An adaptive autopilot for ships', 3rd Ship Control Symp., Ministry of Defence, Foxhill, Bath, Somerset, UK, 1972, pp. 1-11.
4. Oldenburgh, J., 'Experiments with a new adaptive autopilot intended for controlled turns as well as for course keeping', Proc. 4th Ship Control Symp., The Hague, Netherland, 1975.
5. Ohtsu, K. and G. Kitagama, 'An advanced ship autopilot system by a stochastic model', Proc. 5th Ship Control System Symp., Annapolis, MD, U.S.A., 1978.
6. Sugimoto, A. and T. Kojima, 'A new autopilot system with condition adaptivity', Proc. 5th Control System Symp., Annapolis, MD, U.S.A. 1978.
7. Källström, C. G., K. J. Åström, N. E. Thorell, J. Eriksson and L. Sten, 'Adaptive autopilots for tankers', Automatica, 15, 241-254 (1979).
8. Åström, K. J., 'Why use adaptive techniques for steering large tankers', Int. J. Control, 32(4), 689-708 (1980).
9. Van Amerongen, J., 'Adaptive steering of ships - a model reference approach', Automatica, 20, 3-14 (1984).
10. Arie, T., M. Itoh, A. Senoh, N. Takahashi, S. Fujii and N. Mizuno, 'An adaptive steering system for a ship', IEEE Control Systems Mag., 3-7 (1986).
11. Katebi, M. R. and J. C. Byrne, 'LQG adaptive ship autopilot', Trans. Inst. MC, 10(4), 187-197 (1988).
12. Fossen, T. I. and M. J. Paulsen, 'Adaptive feedback linearization applied to steering of ships', Modelling, Identification Control, 14(4), (1993).
13. Garcia, R. F. and F. J. Castelo, 'Adaptive PID controller applied to marine DP control using frequency analysis', Proc. 3rd IFAC Workshop on Control Applications in Marine Systems, Trondheim, Norway, 1995, pp. 356-361.
14. Pao, Y. H., Adaptive Pattern Recognition and Neural Networks, Addison-Wesley, Reading, MA, 1989.
15. Narendra, K. S. and K. Parthasarathy, 'Identification and control of dynamical systems using neural networks', IEEE Control Systems Mag. 11-18 (1992).
16. Tulunay, E., 'Introduction to neural networks and their application to process control', in E. Gelenbe (ed.), Neural Networks: Advances and Applications, Elsevier, Amsterdam, 1991, pp. 241-273.
17. Simensen, R. and D. J. Murray-Smith, 'Ship steering control by neural networks trained using feedback linearization control laws', Preprints IFAC/IMACS Int. Workshop on Artificial Intelligence in Real Time Control, Bled. Slovenia, 1995, pp. 269-274.
18. Witt, N. A. J., R. Sutton and K. M. Miller, 'A track keeping neural network controller for ship guidance', Proc. 3rd IFAC Workshop on Control Applications in Marine Systems, Trondheim, Norway, 1995, pp. 385-392.
19. Richter, R. and R. S. Burns, 'An artificial neural network autopilot for ship guidance', Conf. United Kingdom Simulation Soc. (UKSS'93), Edinburgh, 1993. pp. 168-172.
20. Balasuriya, B. A. A. P. and P. R. P. Hoole, 'Feedforward neural network controller for ship steering', Proc. 3rd IFAC Workshop on Control Applications in Marine Systems, Trondheim, Norway, 1995, pp. 400-404.
21. Burns, R. S., 'The use of artificial neural networks for the intelligent optimal control of surface ships', IEEE J. Oceanic Engng, 20(1), 65-72 (1995).
22. Unar, M. A. and D. J. Murray-Smith, "Artificial neural networks for ship steering control systems', Proc. 3rd Int. Conf. on Engineering Applications of Neural Networks (EANN'97), Stockholm, Sweden, 1997, pp. 87-90.
23. Zhang, Y., P. Sen and G. E. Hearn, 'An on-line trained adaptive neural controller', IEEE Control Systems Mag., 67-75 (1995).
24. Murray-Smith, R. and T. A. Johansen (ed.), Multiple Model Approach to Modelling and Control, Taylor & Francis, London, 1997.
25. Hunt, K. J. and T. A. Johansen, 'Design and analysis of gain scheduled control using local controller networks', Int. J. Control, 66(5), 619-651 (1997).
26. Fossen, T. I., Guidance and Control of Ocean Vehicles, Wiley, New York, 1994.
27. Van Amerongen, J., 'Adaptive steering of ships - a model reference approach to improved manoeuvring and economical course keeping', Ph.D. Thesis, Delft University of Technology, 1982.
28. Crane, C. L., H. Eda and A. C. Landsburg, 'Controllability', in Lewis, E.V. (ed.), Principles of Naval Architects, Vol. III, SNAME, Jersey City, NJ, 1989.
29. Abkowitz, M. A., 'Lectures on ship hydrodynamics - steering and manoeuvrability'. Report No. Hy-5, Hydro- and Aerodynamics Laboratory, Lyngby, Denmark, 1964.
30. SNAME. The society of Naval Architects and Marine Engineers. Nomenclature for treating the motion of a submerged body through a fluid, Tech. Res. Bull., No. 1-5 (1955).
31. Nomoto, K., T. Taguchi, K. Honda and S. Hirano, 'On steering qualities of ships', Int. Ship Building Progr., 4(35), 354-370 (1957).
32. Koyama, T., 'Improvement of course stability and control of a subsidiary automatic control', J. Mech. Engng. Sci. 14(7) (Supplementary Issue), 132-141 (1972).
33. Lauvdal, T. and T. I. Fossen, 'A globally stable adaptive ship autopilot with wave filter using only yaw angle measurements', Proc. 3rd IFAC Workshop on Control Applications in Marine Systems (CAMS'95), Trondheim, Norway, 1995, pp. 262-269.
34. Holzhüter, T. and R. Schultze, 'Operating experience with a high precision track controller for commercial ships', Control Eng. Practice, 4(3), 343-350 (1996).
35. Norrbin, N. H., 'On the design and analysis of the zig-zag test on base of quasi linear frequency response', Technical Report B104-3, The Swedish State Shipbuilding Experimental Tank (SSPA), Gothenburg, Sweden, 1963.
36. Hardy, R. L., 'Multiquadric equations of topography and other irregular surfaces', J. Geophys. Res., 76(8), 1905-1915 (1971).
37. Powell, M. J. D., 'Radial basis functions for multivariable interpolation: a review', Proc. IMA Conf. Algorithms for Approximation of Functions and Data, Shrivenham, UK, 1985.
38. Broomhead, D. S. and D. Lowe, 'Multivariable function interpolation and adaptive networks', Complex Systems, 2, 321-355 (1988).
39. Poggio, T. and F. Girossi, 'Networks for approximation and learning', Proc. IEEE, 78(9), 1481-1497 (1990).
40. Chen, S., C. F. N. Cowan and P. M. Grant, 'Orthogonal least squares algorithm for radial basis function networks', IEEE Trans. Neural Networks, 2(2), 302-309 (1991).
41. Johansen, T. A. and B. A. Foss, 'A NARMAX model representation for adaptive control based on local models', Modelling, Identification Control, 13(1), 25-39 (1992).
42. Johansen, T. A. and B. A. Foss, 'Constructing NARMAX models using ARMAX models, Int. J. Control, 58, 1125-1153 (1993).
43. Murray-Smith, R., 'A fractal radial basis function network for modelling', Int. Conf. on Automation, Robotics and Computer Vision, Singapore, Vol. 1, 1992, 2.6.1-2.6.5.
44. Murray-Smith, R., Neumerkel, D. and Sbarbaro-Hofer, D., 'Neural networks for modelling and control of a nonlinear dynamic system', IEEE Symp. on Intelligent Control, Glasgow, 1992, pp. 404-409.
45. Murray-Smith, R., 'A local model approach to non-linear modelling', Ph.D. Thesis, University of Strathclyde, Glasgow, Scotland, 1994.
46. Friedmann, J. H., 'Multivariable adaptive regression Splines', Ann. Statist. 19, 1-141 (1991).
47. Kaveli, T., 'ASMOD - an algorithm for adaptive spline modelling of observation data', Int. J. Control 58, 947-967 (1993).
48. Hlavàckovà, K, 'An upper estimate of the error of approximation of continuous multivariable functions by KBF networks', Proc. 3rd European Symp. on Artificial Neural Networks, Brussels, 1995, pp. 333-340.
49. Werntges, H. W., 'Partition of unity improves neural functional approximation', Proc. IEEE Int. Conf. on Neural Networks, Vol. 2, San Francisco, CA, 1993, pp. 914-918.
50. Johansen, T. A. and B. A. Foss, 'Identification of non-linear system structure and parameters using regime decomposition', Automatica, 31(2), 321-326 (1995).
51. Gawthrop, P. J., 'Continuous time local model networks', in Zbikowski, R. and K. J. Hunt (eds), Neural Adaptive Control Technology, World Scientific, Singapore, 1996, pp. 41-70.
52. Gollee, H., K. J. Hunt, N. de N. Donaldson and C. J. Jarvis, 'Modelling of electrically simulated muscle', in Murray-Smith, R. and T. A. Johansen (eds), Multiple Modelling Approaches to Modelling and Control, Chapter 3, Taylor & Francis, London, 1997.
53. Åström, K. J. and C. G. Källström, 'Identification of ship dynamics', Automatica, 12, 9-22 (1976).