在行人惯性导航领域,地磁修正算法作为一种有效的修正航向漂移误差的方法,应用在磁干扰环境中时,存在航向失真的问题,而航向精度往往决定了整个导航系统的优劣。为此,在Afzal提出的准静止磁场检测算法的基础上,提出了行人导航算法框架iI...在行人惯性导航领域,地磁修正算法作为一种有效的修正航向漂移误差的方法,应用在磁干扰环境中时,存在航向失真的问题,而航向精度往往决定了整个导航系统的优劣。为此,在Afzal提出的准静止磁场检测算法的基础上,提出了行人导航算法框架iIEZ+,即以Jiménez A R提出的IEZ+框架为基础,融入了改进后的准静止磁场检测算法,对地磁修正算法和启发式航向漂移消除算法的使用做出选择,实现了两种算法间的优势互补。实验表明,本文提出的算法框架可以有效抵御磁干扰的影响,提供可靠的航向和位置信息。经过多次室内外行走实验,定位误差约为路程的0.6%~1.6%,优于文中提到的其他基于IEZ框架的算法。展开更多
In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order t...In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.展开更多
In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order prop...In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative （FOPID） controller gains. Particle swarm optimization （PSO） algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.展开更多
文摘在行人惯性导航领域,地磁修正算法作为一种有效的修正航向漂移误差的方法,应用在磁干扰环境中时,存在航向失真的问题,而航向精度往往决定了整个导航系统的优劣。为此,在Afzal提出的准静止磁场检测算法的基础上,提出了行人导航算法框架iIEZ+,即以Jiménez A R提出的IEZ+框架为基础,融入了改进后的准静止磁场检测算法,对地磁修正算法和启发式航向漂移消除算法的使用做出选择,实现了两种算法间的优势互补。实验表明,本文提出的算法框架可以有效抵御磁干扰的影响,提供可靠的航向和位置信息。经过多次室内外行走实验,定位误差约为路程的0.6%~1.6%,优于文中提到的其他基于IEZ框架的算法。
基金Supported by the National Natural Science Foundation of China under Grant No.60974136
文摘In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.
基金the National Natural Science Foundation of China(No.51109090)the Natural Fund of Fujian Province(No.2015J01214)+2 种基金the Key Project of Fujian Provincial Department of Science & Technology(No.2012H0030)the University’s Innovative Project of Xiamen Science & Technology Bureau(No.3502Z20123019)the Project of New Century Excellent Talents of Colleges and Universities of Fujian Province(No.JA12181)
文摘In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative （FOPID） controller gains. Particle swarm optimization （PSO） algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.
