舰船编队避碰的自适应控制研究

Research on adaptive control of ship formation collision avoidance

海上运输是一种重要的货物流通方式,随着人们对海洋资源的进一步开发,海上运输、资源开采、石油开发等工业行为对海上交通运输条件提出更高要求。为了改善日益拥堵的海上交通,防止出现船舶碰撞等海上交通事故,世界各国对船舶避碰技术投入了大量的研究,其中,舰船编队的避碰控制技术是研究的重点。本文在传统的非线性控制系统基础上,结合自适应模糊控制算法和Matlab仿真技术,对舰船编队在未知环境干扰条件下的避碰、避障等技术进行系统研究,提出一种舰船编队的模糊自适应避碰方法,并进行仿真分析。

Maritime transport since ancient times is an important way of circulation of goods, with the further development of marine resources, marine transportation, mining, oil development industry put forward higher requirements on the condition of the maritime transportation. In order to improve the increasingly congested maritime traffic, to prevent the collision between a maritime traffic accident, many countries put a lot of research, the technology of ship collision avoidance,collision avoidance control technology of ship formation is the focus of the study. In the traditional nonlinear control system based on this, combined with Adaptive fuzzy control algorithm and Matlab Back-stepping simulation trajectory of warship formation in an unknown environment under the conditions of interference avoidance, obstacle avoidance technology was studied and proposed a fuzzy adaptive formation of ship collision avoidance method and simulation analysis.