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Broad Learning System-Based Adaptive Optimal Course-Keeping Control of Marine Surface Vessel
Ma, Yuzhuo1; Li, Tieshan2; Philip Chen, C. L.3; Yuan, Liang'en1
2020-11-09
Conference Name2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA)
Source PublicationProceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Pages1478-1483
Conference Date9-13 Nov. 2020
Conference PlaceKristiansand, Norway
Abstract

In this paper, a novel optimal control method by broad learning system (BLS)-based adaptive dynamic programming is proposed. This method is used to course-keeping control of ship under the conditions of unknown system dynamics, energy saving and reduced equipment waste. First, it is necessary to identify the unknown nonlinear dynamics in the ship's course keeping system, so a model network is established by BLS. Then, a BLS based optimal control scheme is proposed, the data used for the BLSs training is composed of current data and recorded data. The connection weights of the approximator is obtained by real system without need of iteration. Therefore, compared with the traditional adaptive dynamic programming (ADP) algorithm that requires multiple iterations, BLS-based ADP prove the effectiveness and high performance of the proposed optimal control law for course-keeping in ship autonomous driving.

KeywordAdp Bls Course-keeping Optimal Control
DOI10.1109/ICIEA48937.2020.9248400
URLView the original
Language英語English
Scopus ID2-s2.0-85097549776
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Document TypeConference paper
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Affiliation1.Dalian Maritime University, Navigation College, Dalian, China
2.University of Electronic Science and Technology of China, School of Automation Engineering, Chengdu, China
3.University of Macau, Faculty of Science and Technology, Macao
Recommended Citation
GB/T 7714
Ma, Yuzhuo,Li, Tieshan,Philip Chen, C. L.,et al. Broad Learning System-Based Adaptive Optimal Course-Keeping Control of Marine Surface Vessel[C],2020:1478-1483.
APA Ma, Yuzhuo,Li, Tieshan,Philip Chen, C. L.,&Yuan, Liang'en.(2020).Broad Learning System-Based Adaptive Optimal Course-Keeping Control of Marine Surface Vessel.Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020,1478-1483.
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