船舶航向非线性离散系统自适应模糊最优控制  

Optimal adaptive fuzzy control for ship course discrete-time systems

作　　者：朱丽燕 李铁山[1] 单麒赫 ZHU Liyan;LI Tieshan;SHAN Qihe(Navigation Collage,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学航海学院

出　　处：《哈尔滨工程大学学报》2019年第9期1576-1581,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(5193000654,6197023695,61803064,61751202);大连市重点学科重大课题科技创新基金项目(2018J11CY022);中央高校基本科研业务费专项资金项目(3132019345)

摘　　要：针对船舶航向非线性离散时间系统,本文提出一种基于模糊逻辑系统的自适应最优航向控制算法。本文优化控制算法采用actor-critic结构,模糊逻辑评价系统和模糊逻辑执行系统分别用于构建最优评价信号和最优控制信号。模糊权值采用梯度下降法进行更新学习,并以大连海事大学“育龙”轮为例进行仿真研究。基于前向差分Lyapunov方法证明了闭环系统半全局一致最终有界,保证系统跟踪误差收敛到以零为中心的邻域内。仿真结果进一步验证了本文算法的有效性和合理性。An adaptive optimal course control algorithm based on fuzzy logic system is proposed for ship course nonlinear discrete-time system.In this paper,the actor-critic structure is adopted in the optimization control algorithm,The fuzzy logic evaluation system and the fuzzy logic execution system are used to construct the optimal evaluation signal and the optimal control signal,respectively.The fuzzy weight is updated by gradient descent method,the “Yulong” vessel of Dalian Maritime University is employed to simulation study.Based on the forward differential Lyapunov method,it is proved that all signals in the closed-loop system are guaranteed to be semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero.The simulation results further verify the effectiveness and rationality of the proposed algorithm.

关 键 词：船舶航向控制 离散时间非线性系统 自适应控制 模糊逻辑系统 后推方法 最优控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]