建模参数不确定的欠驱动船舶路径跟踪控制  

Path-following control of underactuated ships with modeling parametric uncertainties

作　　者：汪洋[1] 郭晨[1] 

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《计算机工程与应用》2009年第33期186-188,239,共4页Computer Engineering and Applications

基　　金：国家自然科学基金No.60774046~~

摘　　要：针对欠驱动船舶路径跟踪控制中,建模参数时变引起的不确定性问题,提出一种非线性动态神经模糊控制算法。该算法在控制过程中同时调整控制器结构和参数,能确保船舶几何位置的准确跟踪并克服不确定性的影响。仿真结果验证了算法的有效性。Aiming at the uncertainties in the path-following control of underactuated ships,a nonlinear dynamic neural fuzzy con- trol algorithm is presented.The algorithm adjusts the structure and parameters simultaneously,and makes sure the exact tracking of geometrical path as well as conquering the uncertainties caused by the changing modeling parameters.Simnlation results validate the effectiveness of the proposed algorithm.

关 键 词：欠驱动船舶 路径跟踪 不确定性 动态神经模糊模型 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]