动力定位船舶自适应反步逆最优循迹控制  

Adaptive Backstepping Inverse Optimal Tracking Control of Dynamic Positioning Vessel

作　　者：谢文博[1] 付明玉[1] 张健[2] 施小成[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《中国造船》2013年第3期58-69,共12页Shipbuilding of China

基　　金：国家高技术船舶科研项目(GJCB09001);国家科技重大专项(2008ZX05 027-002);国家自然科学基金(60775060)

摘　　要：针对动力定位船舶的循迹任务,提出了一种基于逆最优思想的自适应反步控制器,并对误差系统的稳定性进行了分析。首先对无干扰的动力定位船舶线性化模型设计最优跟踪控制器,利用时变Riccati方程进行反步状态变换得到误差系统,再基于Lyapunov函数对定常干扰设计自适应律和使系统渐近稳定的控制律,最后给出此控制律作用下的最优性能指标。该方法不用论证带有H∞范数的广义Riccati代数方程可解性,避免了传统非线性H∞鲁棒控制需要求解Hanmilton-Jacobi-Issacs(HJI)方程的问题。动力定位船舶的循迹控制仿真研究验证了算法的有效性。For the tracking task of dynamic positioning vessel, an adaptive backstepping control method based on inverse optimal idea is proposed; stability of error system is analyzed. First an optimal path following controller is designed for the linearized system of dynamic positioning ship without disturbance. The error system is obtained through backstepping transformation procedure using time varying Riccati equation. Adaptive law for estimating steady disturbance and control law which can make the system stable asymptotically is designed based on Lyapunov function. Finally optimal performance index is given under the given control law. It is not necessary to prove the existence of solution for generalized algebraic Riccati Equation with H∞ norm, while solving Hanmilton-Jacobi-Issacs equation in traditional nonlinear H∞ controller design is also avoided. By means of tracking control simulation for dynamically positioned vessels the effectiveness of the algorithm is verified.

关 键 词：逆最优控制 动力定位 循迹 反步法 自适应算法 

分 类 号：U674.34[交通运输工程—船舶及航道工程]