Backstepping的船舶运动RBF-NN稳定性控制研究  

Research on Stability Control of Ship Motion by Backstepping and RBF-NN

作　　者：刘小东[1] 黄洪琼[1] 

机构地区：[1]上海海事大学信息工程学院,上海201306

出　　处：《船舶工程》2015年第8期44-47,共4页Ship Engineering

基　　金：国家自然科学基金(61271446);上海海事大学校基金(20130470);上海海事大学学术新人培育计划(GK2013087)

摘　　要：针对船舶运动的非线性模型,设计了一种船舶航行的稳定性控制算法。首先将被控系统分解成与系统阶数相同的子系统,然后利用Backstepping技术,分别为每个子系统设计虚拟控制律,迭代得出虚拟输入控制律,其中的非线性未知函数用RBF-NN逼近,随着迭代次数的增加利用一阶低通滤波器解决计算量膨胀问题。最后通过Lyapunov第二判断法分析验证控制系统的稳定性,基于MATLAB仿真试验,结果表明该方法能够实现船舶航行的稳定性控制。According to the nonlinear model of ship motion, a control algorithm of ship navigation stability is designed. First of all, it will be charged with the decomposition of the system into subsystems and the same as the order of system, then the use of Backstepping technology, separately for each subsystem design of virtual control law, the iteration that virtual input control law, to approach the unknown nonlinear functions which use RBF-NN, as the iteration number increase greatly by using first order low pass filter to solve the computation problem of expansion. Finally, through the Lyapunov second judgment method for stability analysis of the validation control system, based on MATLAB simulation test, the results show that the method can realize the stability of the ship navigation control.

关 键 词：船舶运动 Back-stepping RBF-NN 稳定性分析 控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U675.91[自动化与计算机技术—控制科学与工程]