无人船航向闭环成形滤波L2增益鲁棒控制  

Unmanned Surface Vessel Steering L2 Gain Robust Control Based on Closed-Loop Shaping Filter

作　　者：关巍[1,2] 孙静海 李翔 任志浩[2] GUAN Wei;SUN Jinghai;LI Xiang;REN Zhihao(Navigation College, Dalian Maritime University, Dalian 116026, China;State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116023, China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026 [2]大连理工大学海岸和近海工程国家重点实验室,辽宁大连116023

出　　处：《西北工业大学学报》2019年第5期1018-1027,共10页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(51409033);辽宁省自然科学基金(201602093);中央高校基本科研业务费(3132016315)资助

摘　　要：将闭环成形滤波方法引入到L2增益鲁棒控制器设计策略中并对规划控制策略下的无人船航向系统进行控制器设计,借鉴了现代控制理论中的L2增益鲁棒控制理论和Lyapunov设计方法严谨性特点,并利用经典频域控制理论中的闭环成形滤波的概念,将时域控制器设计与频域控制器设计策略相融合,从实际应用角度出发,完成了规划控制策略下的无人船航向器的设计。最后在仿真实验中,采用所提出的控制器设计策略分别和几种常见实用的控制器在多向不规则波条件下进行仿真对比,证明了所提出的航向控制器具有结构简捷高效,控制参数物理意义明确,综合控制性能好的优势。With the introduction of the closed-loop shaping filtering method into the L2 gain robust controller design strategy,a nonlinear robust steering controller for unmanned surface vessel is designed under the planning and control strategy in this paper.The rigorous mathematical analysis and synthesis characteristics of the L2 gain robust control theory and the Lyapunov design method are fully utilized in the controller design process.Furthermore,the concept of the closed-loop shaping filtering based on the classical closed-loop control theory is taken into the controller design strategy.Therefore,the time domain controller design methods integration with the frequency domain controller design strategy are merged togehter to complete the unmanned surface vessel steering controller design in the view of practical engineering and planning and control strategy.Finally,compared with several practical controller design methods in the multi-direction irregular waves,the simulation results show that the proposed steering controller design strategy has concise structure,distinctive physic meanings of the controller parameters and superior comprehensive control performance.

关 键 词：无人船 规划控制策略 航向控制 闭环成形滤波 L2增益控制 控制器设计 

分 类 号：TG156[金属学及工艺—热处理]