非线性控制技术在船舶航迹跟踪控制器开发的应用

Application of nonlinear control technology in the development of ship track tracking controller

航迹跟踪控制器通过航向﹑航速传感器及GPS卫星信号等对目标跟踪。由于海上多变的气候环境因素,实际的控制器存在广泛的非线性因素,从而产生了误差,降低了控制器跟踪精度。随着神经网络及信息技术发展,基于RBF神经网络的非线性函数求解得到了快速发展。本文研究船舶航迹非线性控制方程,提出了基于神经网络跟踪控制算法,最后进行仿真。

Track tracking controller tracks target through heading, speed sensor and GPS signal. Because of the changeable climate environment at sea and other factors, the actual controller has a wide range of non-linear factors, which results in errors and reduces the tracking accuracy of the controller. At the same time, with the development of neural network and information technology, the solution of non-linear function based on RBF neural network has been developed rapidly. In this paper, the nonlinear control equation of ship track control is studied, and a tracking control algorithm based on neural network is proposed. Finally, the simulation is carried out.