基于自组织广义椭球基函数模糊系统的船舶航向保持控制

为能够以较小计算量实现船舶航向的精确控制，针对船舶航向保持控制设计一种基于自组织广义椭球基函数模糊系统(SO-GEBF-FS)的航向保持控制器.分析非线性船舶航向运动模型，介绍SO-GEBF-FS的结构及组成，并设计一种有效的规则生长修剪算法.采用DSC设计方法设计控制器，利用SO-GEBF-FS逼近其中不确定性,通过Lyapunov稳定性理论证明闭环系统稳定性.将所设计控制器应用于船舶航向运动数学模型,结果验证了该控制器性能的有效性和优越性.
A ship course keeping controller was proposed by using the promising self-organizing generalized ellipsoidal basis function based fuzzy system (SO-GEBF-FS) to realize the precise control of the ship's heading with less computation.Firstly, the nonlinear ship course motion model was analyzed. Secondly, the structure and composition of SO-GEBF-FS were introduced, and a kind of effective rule growth pruning algorithm was designed.Finally, the DSC method was adopted to design the controller, and SO-GEBF-FS was used to approximate the uncertainty,and the stability of the closed-loop system was proved by Lyapunov stability theory. The proposed controller was applied to the ship course motion model, and results verify the effectiveness and superiority.