[1]段海庆,朱齐丹.基于反步自适应神经网络的船舶航迹控制[J].智能系统学报,2012,7(3):259-264.
DUAN Haiqing,ZHU Qidan.Trajectory tracking control of ships based onan adaptive backstepping neural network[J].CAAI Transactions on Intelligent Systems,2012,7(3):259-264.
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DUAN Haiqing,ZHU Qidan.Trajectory tracking control of ships based onan adaptive backstepping neural network[J].CAAI Transactions on Intelligent Systems,2012,7(3):259-264.
基于反步自适应神经网络的船舶航迹控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
7
期数:
2012年第3期
页码:
259-264
栏目:
学术论文—智能系统
出版日期:
2012-06-25
- Title:
- Trajectory tracking control of ships based onan adaptive backstepping neural network
- 文章编号:
- 1673-4785(2012)03-0259-06
- Keywords:
- trajectory tracking control; backstepping; neural network; adaptive backstepping neural network
- 分类号:
- TP273
- 文献标志码:
- A
- 摘要:
- 针对欠驱动船舶在稳定航速条件下轨迹跟踪问题，提出了一种基于自适应神经网络与反步法相结合的控制算法.该算法将实际的欠驱动船舶视为模型完全未知的非线性系统，利用神经网络的函数逼近特性实现控制器中非线性部分的在线估计，采用同时调整输入层〖KG-*1/3〗-〖KG-*1/3〗隐层、隐层〖KG-*1/3〗-〖KG-*1/3〗输出层间的权值阵的方法进行神经网络权值调整.通过选取积分型Lyapunov函数证明了闭环系统的稳定性.仿真实验表明该控制策略具有良好的跟踪特性，可以实现对期望航迹的精确跟踪.
- Abstract:
- In this paper, the trajectory tracking problem for an underactuated ship at a stable speed was studied, and a control algorithm was put forward based on an adaptive neural network and backstepping. This algorithm regarded the mathematical model of an underactuated ship as a system with the model uncertainties. The uncertainties of the proposed controller were estimated by approximating the characteristics of a neural network online. Furthermore, the weight matrix of the hidden layer and output layer and the weight matrix of the input layer and hidden layer simultaneously adjusted. The stability of the proposed control strategy was accomplished by an integraltype Lyapunov function. Numerical simulation results indicate that the control strategy possesses favorable tracking characteristics and can track the desired path accurately.
- 参考文献/References:
-
［1］张利军，贾鹤鸣，金鸿章，等．基于神经网络的船舶航向自适应输出反馈控制设计［J］．南京理工大学学报：自然科学版, 2009, 33(增刊1): 5357.
ZHANG Lijun, JIA Heming, JIN Hongzhang, et al. Simulation studies on adaptive nonlinear control of ship motion course［J］. Joumal of Nanjing University of Science and Technology: Natural Science, 2009, 33(Suppl.1): 5357.
［2］廖煜雷，万磊．欠驱动船舶直线航迹的滑模控制方法［J］．应用科技, 2011, 38(11): 1317.
?LIAO Yulei, WAN Lei. Slidingmode straightline tracking control for underactuated vessels［J］. Applied Science and Technology, 2011, 38(11): 1317.
［3］DO K D, PAN J. Global tracking control of underactuated ships with offdiagonal terms［C］//Proceedings of the 42nd IEEE Conference on Decision and Control. Maui, USA, 2003: 12501255.
［4］DO K D, PAN J. Global waypoint tracking control of underactuated ships under relaxed assumptions［C］//Proceedings of the 42nd IEEE Conference on Decision and Control. Maui, USA, 2003: 12441249.
［5］DO K D, PAN J. Underactuated ships follow smooth paths: full statefeedback［C］//43rd IEEE Conference on Decision and Control. Atlantis, Bahamas, 2004: 53545359.
［6］王晓飞，邹早建，李铁山，等．欠驱动船舶鲁棒路径跟踪控制器设计［J］．船海工程, 2009, 38(5): 1618.
WANG Xiaofei, ZOU Zaojian, LI Tieshan, et al. Robust path following controller design of underactuated ships［J］. Ship & Ocean Engineering, 2009, 38(5): 1618.
［7］刘杨，郭晨，沈智鹏，等．欠驱动船舶路径跟踪的神经网络稳定自适应控制［J］．控制理论与应用, 2010, 27(2): 165170.
LIU Yang, GUO Chen, SHEN Zhipeng, et al. Stable adaptive neural network control of path following for underactuated ships［J］. Control Theory & Applications, 2010, 27(2): 165170.
［8］GE S S, WANG C. Adaptive NN control of uncertain nonlinear purefeedback systems［J］. Automatica, 2002, 38(4): 671682.
［9］GE S S, WANG C. Direct adaptive NN control for a class of nonlinear systems［J］. IEEE Transactions on Neural Networks, 2002, 13(1): 214221.
［10］ZHANG T, GE S S, HANG C C. Design and performance analysis of a direct adaptive controller for nonlinear systems［J］. Automatica, 1999, 35(1): 18091817.
［11］王飞，张天平，施枭铖．基于积分型Lyapunov函数的随机非线性系统的自适应控制［J］．北京科技大学学报, 2012, 34(1): 2125.
?WANG Fei, ZHANG Tianping, SHI Xiaocheng. Adaptive control for stochastic nonlinear systems based on the integraltype Lyapunov function［J］. Journal of University of Science and Technology Beijing, 2012, 34(1): 2125.
［12］ZHANG Lijun, JIA Heming, QI Xue. NNFFC—adaptive output feedback trajectory tracking control for a surface ship at high speed［J］. Ocean Engineering, 2011, 38(13): 14301438.
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备注/Memo
收稿日期： 2012-05-30.网络出版日期：2012-06-20.
基金项目：国家自然科学基金资助项目（60875025）.
通信作者：段海庆. E-mail: duanhaiqing@hrbeu.edu.cn.
作者简介：段海庆，男，1977年生，讲师，主要研究方向为控制理论与控制工程.
朱齐丹，男，1963年生，教授，博士生导师，中国自动化学会应用专业委员会委员，黑龙江省自动化学会理事，国家绕月探测科学应用专家委员会专家，《应用科技》杂志主编.主要研究方向为机器人与智能控制、机器视觉检测技术、先进控制理论及应用、复杂系统分析与决策等.作为项目负责人承担各类科研项目近30项，其中主要包括国家自然科学基金项目2项，国家计划项目5项.曾荣获省部级科技进步奖9项，国家“光华基金奖”1次.发表学术论文百余篇，其中被EI检索40余篇，出版译著1部，获得发明专利6项、软件著作权5项.
更新日期/Last Update:
2012-09-05