Design of concise robust control for longitudinal motionof YuKun

With the rapid development of the shipping industry,the safety and comfort of ship transportation have been paid more and more attention,and the pitch and heave motion of ships are the most serious factors.In this paper,the longitudinal motion mathematical model of YuKun is esta b lished.By assigning the zero-pole to the left half-plane and using the properties of the symmetric matrix,the shaping weighting functions matrix is designed to stabilize the multi-input multi-output(MIMO)system of YuKun.Finally,a new concise robust controller is designed using the steady output of the shaped system.The simulation results show that under the control of the concise robust controller,the pitch angle and heave of YuKun decrease by 79.9% and 86.2%,respectively.Theoretical analysis and simulation results show that the concise robust controller has a good control effect on the longitudinal motion of YuKun,and is simple and easy to use,with clear engineering significance.

Improved parameter identification algorithm for ship model based on nonlinear innovation decorated by sigmoid function

This paper investigates the problem of parameter identification for ship nonlinear Nomoto model with small test data,a nonlinear innovation-based identification algorithm is presented by embedding sigmoid function in the stochastic gradient algorithm.To demonstrate the validity of the algorithm,an identification test is carried out on the ship‘SWAN’with only 26 sets of test data.Furthermore,the identification effects of the least squares algorithm,original stochastic gradient algorithm and the improved stochastic gradient algorithm based on nonlinear innovation are compared.Generally,the stochastic gradient algorithm is not suitable for the condition of small test data.The simulation results indicate that the improved stochastic gradient algorithm with sigmoid function greatly increases its accuracy of parameter identification and has 14.2%up compared with the least squares algorithm.Then the effectiveness of the algorithm is verified by another identification test on the ship‘Galaxy’,the accuracy of parameter identification can reach more than 95%which can be used in ship motion simulation and controller design.The proposed algorithm has advantages of the small test data,fast speed and high accuracy of identification,which can be extended to other parameter identification systems with less sample data.