基于SVM-ADRC的全垫升气垫船航向控制

Course control of air cushion vehicle based on SVM-ADRC

为改善全垫升气垫船的操纵性,提出了一种基于支持向量机的参数自整定自抗扰控制算法.采用扩张状态观测器观测系统内外扰动并加以补偿,利用非线性误差反馈控制律提高控制性能.利用支持向量机辨识系统非线性关系,建立其瞬时线性化模型.结合最优控制的二次型性能指标思想,实现自抗扰控制参数的自整定.仿真结果表明:在恶劣环境扰动下,所设计控制器能够实现全垫升气垫船航向的精确控制,调节时间短、超调量小、自适应性强.

An active disturbance rejection control （ADRC） with support vector machines （SVM） optimization was proposed to improve the maneuverability of air cushion vehicle. The interior and external disturbances were estimated by the extended state observer and the system was compensated by total disturbance estimation. Nonlinear state error feedback control law was used to enhance control quali- ty. SVM model was used to identify the system information, which was then linearized to extract the instantaneous linear model. With the quadratic performance index from optimal control, the parameters self tuning of ADRC were realized. Simulation result shows that in harsh environment, the controller proposed with short adjusting time, small overshot and strong adaptability can achieve the course control for air cushion vehicle accurately.