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[1]杨迪,郭晨,朱玉华,等.欠驱动船舶神经网络自适应路径跟踪控制[J].智能系统学报,2018,13(2):254-260.[doi:10.11992/tis.201611011]
　YANG Di,GUO Chen,ZHU Yuhua,et al.Neural network adaptive path tracking control for underactuated ships[J].CAAI Transactions on Intelligent Systems,2018,13(2):254-260.[doi:10.11992/tis.201611011]

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欠驱动船舶神经网络自适应路径跟踪控制

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 13 期数: 2018年第2期页码: 254-260 栏目: 学术论文—智能系统出版日期: 2018-04-15

Title:: Neural network adaptive path tracking control for underactuated ships

作者:: 杨迪¹, 郭晨², 朱玉华¹, 付思¹; 1. 沈阳工业大学化工过程自动化学院, 辽宁辽阳 111003;
2. 大连海事大学船舶自动化仿真器研究所, 辽宁大连 116026

Author(s):: YANG Di¹, GUO Chen², ZHU Yuhua¹, FU Si¹; 1. College of Chemical Process Atomation, Shenyang University of Technology, Liaoyang 111003, China;
2. Institute of Ship Automation and Simulator, Dalian Maritime University, Dalian 116026, China

关键词:: 欠驱动船舶; 参数未知; 反演设计法; 自适应控制; 神经网络; 路径跟踪; Lyapunov函数; 最终一致有界

Keywords:: underactuated ship; parameter uncertainties; backstepping; adaptive control; neural networks; path following; Lyapunov function; ultimately uniform boundedness

分类号:: TP391

DOI:: 10.11992/tis.201611011

摘要:: 针对模型参数未知的欠驱动船舶路径跟踪问题，将神经网络技术与反演设计法相结合，提出一种神经网络稳定自适应控制方法。首先根据运动学误差方程和线性变换确定辅助的前进速度和艏摇角，然后利用神经网络逼近技术对模型中任意不确定因素进行补偿，设计自适应控制律,使得实际的前进速度和艏摇角分别收敛到辅助值。应用Lyapunov函数证明了船舶路径跟踪闭环系统的误差信号最终一致有界。仿真结果表明，利用设计的控制律可以迫使欠驱动船舶跟踪曲线和直线路径，并且具有较强的鲁棒性。

Abstract:: Considering path-following problems of underactuated ships with parameter uncertainties, the nerve network technology was combined with the backstepping method for proposing a stable nerve-network adaptive control method. Firstly, based on kinematics error equations and linear transformation, auxiliary surge velocity and heading angle were determined; then the nerve network approximation technology was utilized to compensate for any uncertainties in the model, an adaptive control law was designed, so as to make actual surge velocity and heading angle converge to the auxiliary values respectively. By using the Lyapunov function, it was proved that the ultimately uniform boundedness of the error signals in the closed-loop path following system of ship. Numerical simulation results show that, the designed law can force underactuated ship to follow curve and straight path, it has strong robustness.

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备注/Memo

收稿日期:2016-11-08。
基金项目:国家自然科学基金项目（51579024, 61374114）.
作者简介:杨迪,男,1989年生,讲师,主要研究方向为智能控制理论与应用、欠驱动船舶运动控制;郭晨,男,1956年生,教授,博士生导师,研究方向为船舶自动控制系统、智能控制理论与应用;朱玉华,女,1971年生,副教授,主要研究方向为现代控制理论、最优控制。
通讯作者:杨迪.E-mail:yyaaid@163.com.

更新日期/Last Update: 1900-01-01

欠驱动船舶神经网络自适应路径跟踪控制 PDF下载HTML

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欠驱动船舶神经网络自适应路径跟踪控制

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