考虑时变时滞特性的船舶航向自适应控制  

Adaptive control of ship heading considering time-varying and time-delay characteristics

作　　者：吴天昊 王欣[1] 李海滨 WU Tianhao;WANG Xin;LI Haibin(Navigation College,Dalian Maritime University,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：《中国航海》2024年第3期28-35,共8页Navigation of China

基　　金：国家自然科学基金(51909022;61976033);中央高校基本科研业务费专项资金资助项目(3132023623)。

摘　　要：针对一类带有时变参数和时滞性质的船舶航向控制系统,提出一种基于后推技术的神经网络自适应控制器。将较高精度的3自由度分离型船舶运动模型(MMG)等价变换为具有时变参数和时滞性质的非仿射非线性船舶航向控制系统。结合动态面控制(DSC)技术、径向基(RBF)神经网络,利用后推技术进行自适应控制器设计。通过对复杂目标信号的跟踪,验证神经网络自适应控制器的有效性。提出的控制方法在对船舶航向实现有效控制的同时,能避免复杂度爆炸等问题,并具有结构简单易于工程实现等优点。稳定性分析结果表明闭环内的所有信号一致最终有界。In this paper,for a class of ship heading control systems with time-varying parameters and time-delay nature,a neural network adaptive controller based on backstepping technology is proposed.Firstly,the high fidelity 3 degrees of freedom MMG(Maneuvering Modeling Group)model is transformed into a non-affine nonlinear system with time-varying parameters and time-delay.Afterwards,by combining with the DSC(Dynamic Surface Control)and RBF(Radial Basis Function)neural networks,the adaptive controller is carried out based on backstepping technology.Finally,the effectiveness of the neural network adaptive controller is verified by tracking target signal.Besides,the controller can effectively solve the problem of complexity explosion and has simple structure convenient for implementation.Via stability analysis,the results show that all signals in closed-loop are uniformly ultimately bounded.

关 键 词：船舶航向控制 非仿射纯反馈系统 非线性系统 径向基神经网络 动态面控制 后推控制 

分 类 号：U674[交通运输工程—船舶及航道工程]