简化的鲁棒自适应自动舵控制算法设计  

Simplified Robust Adaptive Control Approach to Ship Autopilot

作　　者：孙红英[1] 

机构地区：[1]青岛远洋船员职业学院,山东青岛266071

出　　处：《船电技术》2013年第3期26-29,33,共5页Marine Electric & Electronic Engineering

摘　　要：为研究船舶航向非线性系统的自适应跟踪控制问题,在考虑舵机伺服系统特性的情况下,提出一种简化的鲁棒自适应神经网络动态面控制算法。采用RBF神经网络逼近模型不确定性,简化自适应参数调整方法,解决了动态面控制自适应参数过多的问题。该算法设计的控制器复杂性低且只有1个在线调整自适应参数,易于工程实现。该算法可以保证闭环信号的渐近稳定,使航向跟踪误差任意小。仿真结果验证了控制器的有效性。To study adaptive control design of ship autopilot, and considering the characteristics of the rudder system, a simplified robust adaptive neural network （NN） dynamic surface control algorithm is proposed. RBF neural network is used to approximate uncertain functions, and the adjusting mechanism of adaptive parameters is simplified to avoid the determination of too many parameters. The boundedness stability of closed-loop system is guaranteed and the tracking error can be made arbitrarily small. As a result, the controller designed by this approach has lower complexity and only one adaptive parameter to be tuned on line. The effectiveness of the presented autopilot is demonstrated by the simulation.

关 键 词：自动舵 神经网络 动态面控制 反步法 参数不确定 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]