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基于DSC和MLP的船舶航向跟踪控制

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Keywords: 船舶,航向控制,动态面(DSC),神经网络(NN),最少学习参数(MLP)

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Abstract:

针对非线性船舶航向运动数学模型存在模型误差的情况,提出一种神经网络控制方法.基于Lyapunov稳定性分析理论,采用动态面(DSC)控制技术,以消除传统Backstepping方法中存在的“计算爆炸”问题,并采用最少学习参数(MLP)技术,以减少控制器的计算负担,便于工程实现和应用.设计的神经网络控制器可以保证闭环系统中所有信号一致最终有界,使跟踪误差任意小.仿真验证了算法的有效性.

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