基于灰色预测的船舶航向简捷鲁棒控制

Grey prediction-based concise robust control of ship course-keeping

针对船舶在海上运动的大时滞和非线性等特点,采用灰色预测和鲁棒控制相结合的方法,设计了一种船舶航向简捷鲁棒控制器,采用改进的灰色模型对船舶航向偏差进行实时预测,并将预测值应用于简捷鲁棒控制器。仿真试验结果表明,该控制系统是可行和有效的,具有较强的鲁棒性。

To deal with the long time-delay and nonlinearity of ship motion in sea,a concise robust controller of ship course-keeping based on the methods of gray prediction and robust control was designed.The error of ship course was predicted in time using improved gray model and the predicted value was applied to the concise robust.The simulation test results showed that the control system possess is feasibility,efficiency and robustness.