基于动态面的船舶航迹自适应神经网络控制

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大连海事大学学报 ›› 2013, Vol. 39 ›› Issue (4) : 9-12.

论著

基于动态面的船舶航迹自适应神经网络控制

李志慧，李伟

作者信息 +

Dynamic surface controlbased adaptive neural network for shiplinear following

LI Zhi-hui, LI Wei

Author information +

文章历史 +

摘要

针对船舶直线航迹控制问题，提出一种基于后推法的自适应控制方法，该方法与动态面(DSC)相结合，减少了后推方法产生的计算量.在船舶模型中存在方向未知的不确定虚拟控制增益函数，为避免可能存在的控制器奇异值问题，将Nussbaum增益技术融入该方法中，减少了整个系统的在线学习参数，便于计算机实现.仿真结果表明，该方法可以实现船舶直线航迹控制.

Abstract

In order to solve the problem of ship linear pathkeeping control, this paper proposes an adaptive control method based on backstepping technique. Combining with dynamic surface control (DSC), the algorithm reduces the computational complexity caused by the backstepping method. Nussbaum is used to solve the possible controller singularity problem. This method decreases the number of online learning parameters dramatically. Simulation results show that the proposed algorithm can realize the ship trackkeeping control.

导出引用

李志慧，李伟. 基于动态面的船舶航迹自适应神经网络控制[J]. 大连海事大学学报. 2013, 39(4): 9-12

LI Zhi-hui, LI Wei. Dynamic surface controlbased adaptive neural network for shiplinear following[J]. Journal of Dalian Maritime University. 2013, 39(4): 9-12

参考文献

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