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基于Backstepping和输入饱和的船舶航向跟踪控制

, PP. 126-130

Keywords: 船舶,航向控制,输入饱和,Backstepping,神经网络,最少学习参数

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Abstract:

基于Lyapunov稳定性定理和Backstepping方法,针对非线性船舶航向运动数学模型提出一种考虑输入饱和的直接自适应神经网络控制方法.采用Backstepping方法对系统进行递归式设计并借助一种饱和内补偿辅助系统处理系统中的输入饱和限制问题,同时运用最少学习参数(MLP)技术,以减少控制器的计算负担,便于工程实现和应用.本文设计的控制器保证了闭环系统信号一致最终有界,而且使系统输出能收敛到零的一个较小领域.数值仿真验证了该算法的有效性.

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