[1]秦贝贝,陈增强,孙明玮,等.基于自适应神经模糊推理系统的船舶航向自抗扰控制[J].智能系统学报,2020,15(2):255-263.[doi:10.11992/tis.201809047]
QIN Beibei,CHEN Zengqiang,SUN Mingwei,et al.Active disturbance rejection control of ship course based on adaptive-network-based fuzzy inference system[J].CAAI Transactions on Intelligent Systems,2020,15(2):255-263.[doi:10.11992/tis.201809047]
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QIN Beibei,CHEN Zengqiang,SUN Mingwei,et al.Active disturbance rejection control of ship course based on adaptive-network-based fuzzy inference system[J].CAAI Transactions on Intelligent Systems,2020,15(2):255-263.[doi:10.11992/tis.201809047]
基于自适应神经模糊推理系统的船舶航向自抗扰控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
15
期数:
2020年第2期
页码:
255-263
栏目:
学术论文—智能系统
出版日期:
2020-03-05
- Title:
- Active disturbance rejection control of ship course based on adaptive-network-based fuzzy inference system
- 关键词:
- 航向控制; 自适应神经模糊推理系统(ANFIS); 自适应自抗扰控制器; 野本(Nomoto)模型; 线性自抗扰控制(LADRC); 非线性系统; 梯度下降法; 参数学习
- Keywords:
- course control; adaptive-network-based fuzzy inference system (ANFIS); adaptive active disturbance rejection controller; Nomoto model; linear active disturbance rejection control (LADRC); nonlinear system; gradient descent method; parameter learning
- 分类号:
- TP272
- 摘要:
- 在实际的船舶航向控制中，航向系统在受到外界风浪干扰时表现出的模型非线性和参数不确定性，为航向控制器的设计带来了困难。针对该问题，设计了常规的线性自抗扰控制器和两种在线学习的自抗扰控制器。利用自适应神经模糊推理系统(ANFIS)实现自抗扰控制器参数的在线调整，设计了自适应PD的自抗扰控制器和自适应扩张状态观测器(ESO)的自抗扰控制器；分别在船舶受到外界扰动和参数摄动的两种情况下进行了仿真，仿真表明自适应自抗扰控制器控制效果更好，抗扰能力更强，表现出较强的鲁棒性。
- Abstract:
- In actual ship course control, the model nonlinearity and parameter uncertainty of the course system when disturbed by external wind and waves bring difficulties to the design of a course controller. To solve this problem, we designed a conventional linear active disturbance rejection controller (ADRC) and two online learning ADRCs. The adaptive-network-based fuzzy inference system is used to achieve the online adjustment of the parameters of the ADRC. Moreover, the ADRCs for adaptive PD and adaptive extended state observer are designed. The simulation results show that the adaptive ADRCs have a good control effect, strong anti-interference capability, and strong robustness when the ship is subjected to external disturbance and parameter perturbation.
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- 相似文献/References:
-
[1]廖煜雷,庄佳园,庞永杰,等.单喷泵无人滑行艇航向的反步自适应滑模控制[J].智能系统学报,2012,7(3):246.
LIAO Yulei,ZHUANG Jiayuan,PANG Yongjie,et al.Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet[J].CAAI Transactions on Intelligent Systems,2012,7():246.
备注/Memo
收稿日期:2018-10-09。
基金项目:国家自然科学基金项目(61973175，61973172)
作者简介:秦贝贝，硕士研究生，主要研究方向为自抗扰控制、预测控制;陈增强，教授，博士生导师，中国系统仿真学会理事，中国人工智能学会智能空天专业委员会副主任，天津市自动化学会理事，主要研究方向为智能控制、预测控制、自抗扰控制。主持完成国家863项目和国家自然科学基金项目6项，获得省部级科技进步奖4次。发表学术论文300余篇;孙明玮，教授，主要研究方向为飞行器制导与控制、自抗扰控制。中国自动化学会数据驱动控制、学习与优化专业委员会委员。主持国防科技攻关基金和国家自然科学基金项目4项，获得国防科技进步奖3次。发表学术论文50余篇
通讯作者:陈增强.E-mail:chenzq@nankai.edu.cn
更新日期/Last Update:
1900-01-01