基于改进DDPG算法的船舶航迹跟随控制系统  

Ship Track Following Control SystemBased on Improved DDPG Algorithm

作　　者：余凡 蒋晓明 张浩 曹立超 周勇 刘晓光 Yu Fan;Jiang;Xiaoming;Zhang Hao;Cao Lichao;Zhou Yong;Liu Xiaoguang(Institute of Intelligent Manufacturing,GDAS,Guangzhou 510070,China)

机构地区：[1]广东省科学院智能制造研究所,广东广州510070

出　　处：《自动化与信息工程》2021年第5期23-27,32,共6页Automation & Information Engineering

基　　金：广东省海洋经济专项项目(GDNRC[2021]024)。

摘　　要：鉴于船舶在航行时受到风、浪和流等不确定因素干扰,传统的船舶航迹控制方法难以在不确定环境且控制系统处于多输入、多输出的条件下精确建模,导致船舶容易偏离预设航迹,影响船舶行驶的安全性。为降低船舶偏航,实现船舶航迹的精准控制,将深度确定性策略梯度(DDPG)算法引入到控制系统。首先,分析船舶的运动学,详细介绍DDPG算法的基本原理并对算法进行改进;然后,在Matlab/Simulink中搭建船舶航迹跟随控制系统并进行仿真实验。实验结果表明,该系统稳定性好,能对外部干扰迅速做出响应,对船舶航迹控制具有一定的参考价值。Since the ship is disturbed by uncertain factors such as wind,wave and current,the traditional ship track control method is difficult to accurately model in the uncertain environment and the control system is in the condition of multi input and multi output,which leads to the ship easy to deviate from the preset track and affects the safety of ship driving.In order to reduce ship yaw and realize accurate control of ship track,depth deterministic strategy gradient(DDPG)algorithm is introduced into the control system.Firstly,the kinematics of ship is analyzed,the basic principle of DDPG algorithm is introduced in detail,and the algorithm is improved.Then,the ship track following control system is built in Matlab/Simulink and the simulation experiment is carried out.The experimental results show that the system has good stability,can respond quickly to external interference,and has a certain reference value for ship track control.

关 键 词：DDPG算法 航迹跟随 船舶控制系统 

分 类 号：U664.82[交通运输工程—船舶及航道工程]