基于LS-SVM的船舶动力定位有限时间控制器设计  

Finite-time Controller Design Based on LS-SVM for Dynamic Positioning Ships

作　　者：陈海力[1] 任鸿翔[1] 杨柏丞[1] CHEN Haili;REN Hongxiang;YANG Baicheng(Navigation College,Dalian Maritime University,Liaoning Dalian 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《船舶工程》2020年第2期77-84,共8页Ship Engineering

基　　金：国家高技术研究发展计划(863)资助项目(2015AA010504);交通运输部应用基础研究资助项目(2015329225204);辽宁省自然科学基金指导计划(20170540092)。

摘　　要：为解决船舶模型存在的具有任意不确定性特征的船舶动力定位控制问题,基于有限时间Lyapunov理论提出一种非奇异快速终端滑模控制策略(NFTSMC),提高系统的收敛速度和抗干扰能力。针对模型不确定性问题,利用最小二乘支持向量机(LS-SVM)的非线性函数逼近技术进行补偿控制,引入"最小参数"技术,将在线学习参数减少到1个,解决"维数灾难"问题。仿真对比结果表明,提出的控制策略具有较高的优越性。In order to solve dynamic positioning control problem of marine ships with arbitrary uncertainties, a nonsingular fast terminal sliding mode control(NFTSMC) approach is presented based on the Lyapunov criterion, ensuring that the control system owns faster convergence and disturbance rejection properties. Aiming to the arbitrary uncertainties, the least squares support vector machines(LS-SVM) and "minimal learning parameter" technique are introduced to compensate the uncertainties of ships model, and the number of online learning weights used for nonlinear function approximation are decreased substantially to one, solving the problem of "curse of dimensionality". The simulation comparison results show that the proposed control strategy has higher superiority.

关 键 词：动力定位 最小二乘支持向量机 最小参数技术 非奇异快速终端滑模 

分 类 号：U666.12[交通运输工程—船舶及航道工程]