交通运输工程

增益系数未知条件下不确定船舶航向保持鲁棒λ调节控制

  • 田佰军 ,
  • 刘正江*
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  • (大连海事大学  航海学院, 辽宁  大连  116026)
田佰军(1970-),男,船长,副教授.

收稿日期: 2015-01-07

  修回日期: 2015-01-18

  网络出版日期: 2015-06-07

obust  λ control for ship course-keeping system in present of the unknown control gain function

  • TIAN Bai-jun ,
  • LIU Zheng-jiang*
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  • (Navigation College, Dalian Maritime University, Dalian 116026, China)

Received date: 2015-01-07

  Revised date: 2015-01-18

  Online published: 2015-06-07

摘要

为更有效处理船舶航向保持系统中一般不确定性,即系统漂移不确定和控制增益系数未知,通过构建考虑预设镇定边界的Lyapunov能量函数,结合自适应Backstepping方法,提出一种具有预设镇定边界的鲁棒λ调节控制.该算法中自适应参数只需在控制误差超出镇定边界时进行在线调节,符合船舶控制工程需求.以大连海事大学“育龙”轮为研究对象进行仿真试验,结果验证了该算法的有效性.

本文引用格式

田佰军 , 刘正江* . 增益系数未知条件下不确定船舶航向保持鲁棒λ调节控制[J]. 大连海事大学学报, 2015 , 41(2) : 30 -34 . DOI: 10.16411/j.cnki.issn1006-7736.2015.02.005

Abstract

To stabilize the uncertainties with the more general form (including the drifting uncertainty and unknown control gain function), a novel Lyapunov function is constructed for the ship couse-keeping system. By virtue of the adaptive Backstepping method, a robust regulation algorithm is developed with the presecribed stabilizing bounds. One key merit of the algorithm is its burden-some superiority, without parameter updating in the prescribed bounds. The simulation test is carried out using the training vessel “Yulong” of Dalian Maritime University, which has illustrated the validity of the proposed algorithm.

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