基于自适应输出反馈的船舶航向控制

Control of Ship Course Based on NN-Adaptive Output Feedback

针对复杂海情下的航向跟踪问题,提出基于神经网络的自适应输出反馈控制方法.利用Lyapunov稳定性理论,证明了该控制设计方法的稳定性.为克服航向角速度难以测量的问题,应用线性观测器进行状态估计,并结合神经网络拟合了复杂海况下的水动力不确定参数.为增强控制器的鲁棒性,对所设计的控制器进行了重新修正,使其具有更好的抗干扰能力.以一艘货船为例,进行了航向在10°和—10°间连续改变的仿真实验,结果表明设计的控制器具有船舶操纵的良好动态性能,且具有无超调、鲁棒性强的优点.

This paper proposes the NN-adaptive output feedback control method for ship course tracking problem.The stability of the controller is proved by Lyapunov stability theory.The proposed controller only needs the measurable information of course angle,and the unknown disturbances in the complicated sea environment are estimated by neural network.To enhance the robustness of the controller,the structure of controller was designed again by adjusting some parameters and an example with a general cargo ship was shown to verify the effectiveness of the proposed controller.Simulations,with ship course continues changing between 10°and-10°, illustrate that the design controller has strong robustness and good dynamic performance without overshooting.