摘要
针对现代船舶直线航迹控制过程中存在的非线性特性以及受风浪流等外界环境干扰和船舶运行参数的不确定性,设计了一种基于输入输出线性化的自适应神经滑模控制器,运用Lyapunov理论证明了所设计的控制器能够使整个船舶控制系统达到全局渐近稳定,以实习船为例,进行了仿真,结果表明:在标称参数下,所设计的控制器能够有效跟踪设定的直线航迹并抑制常规滑模控制器的抖振现象,在存在外部环境扰动以及参数摄动的情况下仍然能够达到较好的控制性能和指标,表现出强鲁棒性。
Aiming at the nonlinear feature and disturbance brought by wind,wave and flow and also the uncertainty of parameters of modern ship’s track-keeping control process,a self-adaptive neural sliding mode controller based on input-output linearization is designed.The system is demonstrated to be global asymptotic stability under the theory of Lyapunov.Simulation results on an training ship indicate that the controller can effectively keep the given straight track and avoid the chattering phenomenon in traditional sliding mode control and it can also achieve a good performance index under the external disturbance and parameter perturbation,showing the robust of the controller.
出处
《舰船电子工程》
2013年第7期42-44,91,共4页
Ship Electronic Engineering
关键词
非线性
船舶航迹控制
输入输出线性化
神经滑模控制
nonlinear
ship’s track-keeping control system
input-output linearization
neural siding-mode control
