A robust H∞sampled-data stabilization problem for nonlinear dynamic positioning(DP) ships with Takagi-Sugeno(T-S) fuzzy models is discussed in this paper. Input delay approach is used to convert the sampleddata DP sh...A robust H∞sampled-data stabilization problem for nonlinear dynamic positioning(DP) ships with Takagi-Sugeno(T-S) fuzzy models is discussed in this paper. Input delay approach is used to convert the sampleddata DP ship system to a fuzzy system with time-varying delay. Adequate conditions are derived to determine the system's asymptotical stability and achieve H∞performance via Lyapunov stability theorems. Then, the fuzzy sampled-data controller is obtained by analyzing the stabilization condition. Simulation result shows that the proposed method and the designed controller for a DP ship are effective so that the DP ship can maintain the desired position, heading and velocities in the existence of varying environment disturbances.展开更多
针对复杂海况下无人船位姿估计的精度改善问题,提出一种基于非高斯特征识别和高斯和容积粒子滤波(Gaussian sum cubature particle filter,GSCPF)的无人船位姿估计算法。首先,基于正态性检验思想将无人船位姿测量数据的样本分布函数与...针对复杂海况下无人船位姿估计的精度改善问题,提出一种基于非高斯特征识别和高斯和容积粒子滤波(Gaussian sum cubature particle filter,GSCPF)的无人船位姿估计算法。首先,基于正态性检验思想将无人船位姿测量数据的样本分布函数与标准高斯累积分布函数之间的最大垂直差和样本偏度峰度两种指标进行结合,从多角度分析数据的分布特征;然后,若数据表现为非高斯分布特征,则采用一种基于高斯和与容积粒子滤波结合的无人船位姿估计方法,否则直接使用容积卡尔曼滤波方法来获得无人船的位姿估计;最后,两类仿真实验结果表明,所提算法能明显改善无人船的位置、速度以及航向等参数的估计精度。展开更多
基金the National Natural Science Foundation of China(No.51579114)the Project of New Century Excellent Talents of Colleges and Universities of Fujian Province(No.JA12181)the Project of Young and Middle-Aged Teacher Education of Fujian Province(No.JAT170309)
文摘A robust H∞sampled-data stabilization problem for nonlinear dynamic positioning(DP) ships with Takagi-Sugeno(T-S) fuzzy models is discussed in this paper. Input delay approach is used to convert the sampleddata DP ship system to a fuzzy system with time-varying delay. Adequate conditions are derived to determine the system's asymptotical stability and achieve H∞performance via Lyapunov stability theorems. Then, the fuzzy sampled-data controller is obtained by analyzing the stabilization condition. Simulation result shows that the proposed method and the designed controller for a DP ship are effective so that the DP ship can maintain the desired position, heading and velocities in the existence of varying environment disturbances.
文摘针对复杂海况下无人船位姿估计的精度改善问题,提出一种基于非高斯特征识别和高斯和容积粒子滤波(Gaussian sum cubature particle filter,GSCPF)的无人船位姿估计算法。首先,基于正态性检验思想将无人船位姿测量数据的样本分布函数与标准高斯累积分布函数之间的最大垂直差和样本偏度峰度两种指标进行结合,从多角度分析数据的分布特征;然后,若数据表现为非高斯分布特征,则采用一种基于高斯和与容积粒子滤波结合的无人船位姿估计方法,否则直接使用容积卡尔曼滤波方法来获得无人船的位姿估计;最后,两类仿真实验结果表明,所提算法能明显改善无人船的位置、速度以及航向等参数的估计精度。
