全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于滤波反步法的船舶航向跟踪控制

DOI: 10.16411/j.cnki.issn1006-7736.2015.01.002, PP. 6-9

Keywords: 船舶航向,跟踪控制,自适应控制,非线性系统,神经网络

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对存在不确定性的非线性船舶航向运动数学模型,将反步算法和commandfiltertechnique相结合,提出一种新的非线性神经网络自适应控制器设计方法.基于Lyapunov稳定性分析理论,采用commandfiltertechnique消除传统反步法中存在的“计算爆炸”问题,同时将神经网络权值的范数作为估计参数,以减少控制器的计算负担,便于工程实现和应用.所设计的非线性自适应神经网络控制器使船舶航向控制系统中所有信号一致有界,航向误差收敛于零.仿真结果验证了该算法的有效性.

References

[1]  [1] 杜佳璐, 郭晨. 控制增益未知的船舶航向非线性自适应跟踪控制[J]. 控制理论与应用, 2005, 22(2):315-320.
[2]  DU Jia-lu, GUO Chen. Nonlinear adaptive design for coursetracking control of ship without a priori knowledge of control gain [J]. Journal of Control Theory & Applications, 2005, 22(2):315-320.(in Chinese)
[3]  [2] 罗伟林, 邹早建, 李铁山. 船舶航向非线性系统鲁棒跟踪控制[J]. 控制理论与应用, 2009, 26(8):893-895.
[4]  LUO Wei-lin, ZOU Zao-jian, LI Tie-shan. Robust tracking control of nonlinear ship steering [J]. Journal of Control Theory and Applications, 2009, 26(8):893-895.(in Chinese)
[5]  [3] 杨盐生. 船舶航向非线性系统的模型参考模糊自适应控制[J]. 中国造船, 2003, 44(3):85-93.
[6]  YANG Yan-sheng. Model reference fuzzy adaptive control for ship streering autopilot with uncertain nonlinear system [J]. Shipbuilding of China, 2003, 44(3):85-93.(in Chinese)
[7]  [4] 杨盐生. 不匹配不确定系统的变结构鲁棒控制及应用[J]. 交通运输工程学报, 2001, 1(2):102-107.
[8]  YANG Yan-sheng. Variable structure robust control algorithm for uncertain system with the absence of matching assumptions[J]. Journal of Traffic and Transportation Engineering, 2001, 1(2):102-107.(in Chinese)
[9]  [5] 胡耀华, 贾欣乐. 广义预测控制应用于船舶航向和航迹保持[J]. 中国造船, 1998 (1):36-41.
[10]  HU Yao-hua, JIA Xin-le. The application of generalized predictive control to ship course and trackkeeping [J]. Shipbuilding of China, 1998 (1):36-41.(in Chinese)
[11]  [6] 贾欣乐, 张显库. H∞ 控制器应用于船舶自动舵[J]. 控制与决策, 1995, 10(3):250-254.
[12]  JIA Xin-le, ZHANG Xian-ku. H∞ controllers applied to autopilot for ships[J]. Control and Decision, 1995, 10(3):250-254.(in Chinese)
[13]  [7] LI Tie-shan, WANG Dan, FENG Gang, et al. A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems[J] IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, 2010, 40(3):915-927.
[14]  [8] KWAN C, LEWIS F L. Robust Backstepping control of nonlinear systems using neural networks[J] IEEE Transactions on Systems, Man, and CyberneticsPart A: Systems and Humans, 2000, 30(6):753-766.
[15]  [9] CHEN M, GE S S, HOW B V E. Robust adaptive neural network control for a class of uncertain MIMO nonlinear systems with input nonlinearities[J]. IEEE Transactions on Neural Networks, 2010, 21(5):796-812.
[16]  [10] CHEN B, LIU X P, LIU K F, et al. Direct adaptive fuzzy control of nonlinear strictfeedback systems[J]. Automatica, 2009, 45(6):1530-1535.
[17]  [11] FARRELL J A, POLYCARPOU M, SHARMA M, et al. Command filtered Backstepping [J]. IEEE Transactions on Automatic Control, 2009, 54(6):1391-1395.
[18]  [12] DONG W J, FARRELL J A, POLYCARPOU M, et al. Command filtered adaptive Backstepping [J]. IEEE Transactions on Control Systems Technology, 2012, 20(3):566-579.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133