基于粒子群优化反步法的船舶航向控制器设计

Design of Ship Course-Keeping Controller with Backstepping Control and Particle Swarm Optimization

考虑到反步法在随机干扰下具有较优的控制效果,利用反步法设计基于Nomoto模型的船舶航向控制器;设计一种基于粒子群优化(Particle Swarm Optimization,PSO)反步法的航向控制器,其能通过优化不确定增益参数来消除部分冗余控制。通过仿真试验比较不同航向控制器的性能。仿真结果表明:粒子群优化反步法航向控制器具有更高的控制精度和更强的鲁棒性。

The controller is preliminary built based on Nomoto model with the Backstepping algorithm that has good control effect under random disturbance.A PSO(Particle Swarm Optimization)algorithm is introduced into the preliminary controller to optimize the gain parameters with uncertainty,and in turn,eliminate some unnecessary control action.The controller is tested,which demonstrates superior control accuracy and robustness.