船舶航向离散非线性系统自适应神经网络控制
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摘要
针对考虑舵机特性的船舶航向离散非线性控制系统,提出了一种基于神经网络的自适应控制设计方法。为了消除离散系统后推设计中存在"因果矛盾"的问题,原船舶航向离散系统通过变换得到等价的能够预测变量的前向预测系统。通过使用单一神经网络逼近系统的所有未知部分,该控制设计方法可以有效地减轻控制系统存在的"计算量膨胀"问题,并具有控制器结构简单,控制参数少,易于工程实现等优点。同时,稳定性分析证明闭环系统的所有信号一致最终有界,并能使得航向跟踪误差任意小。最后,运用"育鲲"轮进行仿真研究以证明所提方法的有效性。
In this study,a novel adaptive control method was investigated for a ship course discrete-time nonlinear system with rudder dynamics based on a neural network. To solve the problem of discrete-time backstepping design procedures,the ship course discrete-time system was transformed into an equivalent ahead predict system in which the state variables could be predicted. The proposed control design scheme was shown to effectively solve the " explosion of complexity" problem by approximating all the unknown parts of the system using a single neural network.By this way,the control parameters are fewer,the controller structure is much simpler and the controller is easier to implemented in application. All the signals in the closed-loop system were shown to be uniformly ultimately bounded,ensuring that the tracking error converged to a small neighborhood at the origin. Finally,simulations of the vessel " Yukun" were used to demonstrate the effectiveness of the proposed algorithm.
In this study,a novel adaptive control method was investigated for a ship course discrete-time nonlinear system with rudder dynamics based on a neural network. To solve the problem of discrete-time backstepping design procedures,the ship course discrete-time system was transformed into an equivalent ahead predict system in which the state variables could be predicted. The proposed control design scheme was shown to effectively solve the " explosion of complexity" problem by approximating all the unknown parts of the system using a single neural network.By this way,the control parameters are fewer,the controller structure is much simpler and the controller is easier to implemented in application. All the signals in the closed-loop system were shown to be uniformly ultimately bounded,ensuring that the tracking error converged to a small neighborhood at the origin. Finally,simulations of the vessel " Yukun" were used to demonstrate the effectiveness of the proposed algorithm.
引文
[1]WITKOWSKA A,S'MIERZCHALSKI R.Designing a ship course controller by applying the adaptive backstepping method[J].International Journal of Applied Mathematics and Computer Science,2012,22(4):985-997.
[2]TOMERA M.Nonlinear controller design of a ship autopilot[J].International Journal of Applied Mathematics and Computer Science,2010,20(2):271-280.
[3]DU Jialu,GUO Chen.Nonlinear adaptive design for course tracking control of ship without a priori knowledge of control gain[J].Journal of Control Theory and Applications,2005,22(2):315-320.
[4]罗伟林,邹早建,李铁山.船舶航向非线性系统鲁棒跟踪控制[J].控制理论与应用,2009,26(8):893-895.LUO Weilin,ZOU Zaojian,LI Tieshan.Robust tracking control of nonlinear ship steering[J].Control Theory&Applications,2009,26(8):893-895.
[5]ZHANG Lijun,JIA Heming,QI Xue.NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed[J].Ocean Engineering,2011,38(13):1430-1438.
[6]ZHANG Lijun,QI Xue,PANG Yongjie.Adaptive output feedback control based on DRFNN for AUV[J].Ocean Engineering,2009,36(9/10):716-722.
[7]FOSSEN T I.Handbook of marine craft,hydrodynamics,and motion control[M].Manhattan:John Wiley&Sons Ltd,2011:417-526.
[8]刘程,李铁山,陈纳新.带有舵机特性的船舶航向自动舵DSC-MLP设计[J].哈尔滨工程大学学报,2012,33(1):9-14.LIU Cheng,LI Tieshan,CHEN Naxin.Dynamic surface control and minimal learning parameter(DSC-MLP)design of a ship’s autopilot with rudder dynamics[J].Journal of Harbin Engineering University,2012,33(1):9-14.
[9]WANG Xin,LI Tieshan.Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems with input saturation[M].Heidelberg:Springer,2013:70-78.
[10]王欣,李铁山,林彬.考虑舵机特性的船舶航向离散非线性系统输出反馈控制设计[J].大连海事大学学报,2014,40(2):1-4.WANG Xin,LI Tieshan,LIN Bin.Output feedback control for ship course discrete-time nonlinear system with rudder dynamics[J].Journal of Dalian Maritime University,2014,40(2):1-4.
[11]贾欣乐,杨盐生.船舶数学模型[M].大连:大连海事大学出版社,1999:263-264.
[12]JAGANNATHAN S,LEWIS F L.Discrete-time neural net controller for a class of nonlinear dynamical systems[J].IEEE Transactions on Automatic Control,1996,41(11):1693-1699.
[13]GE S S,LI G Y,LEE T H.Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems[J].Automatica,2003,39(5):807-819.
[2]TOMERA M.Nonlinear controller design of a ship autopilot[J].International Journal of Applied Mathematics and Computer Science,2010,20(2):271-280.
[3]DU Jialu,GUO Chen.Nonlinear adaptive design for course tracking control of ship without a priori knowledge of control gain[J].Journal of Control Theory and Applications,2005,22(2):315-320.
[4]罗伟林,邹早建,李铁山.船舶航向非线性系统鲁棒跟踪控制[J].控制理论与应用,2009,26(8):893-895.LUO Weilin,ZOU Zaojian,LI Tieshan.Robust tracking control of nonlinear ship steering[J].Control Theory&Applications,2009,26(8):893-895.
[5]ZHANG Lijun,JIA Heming,QI Xue.NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed[J].Ocean Engineering,2011,38(13):1430-1438.
[6]ZHANG Lijun,QI Xue,PANG Yongjie.Adaptive output feedback control based on DRFNN for AUV[J].Ocean Engineering,2009,36(9/10):716-722.
[7]FOSSEN T I.Handbook of marine craft,hydrodynamics,and motion control[M].Manhattan:John Wiley&Sons Ltd,2011:417-526.
[8]刘程,李铁山,陈纳新.带有舵机特性的船舶航向自动舵DSC-MLP设计[J].哈尔滨工程大学学报,2012,33(1):9-14.LIU Cheng,LI Tieshan,CHEN Naxin.Dynamic surface control and minimal learning parameter(DSC-MLP)design of a ship’s autopilot with rudder dynamics[J].Journal of Harbin Engineering University,2012,33(1):9-14.
[9]WANG Xin,LI Tieshan.Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems with input saturation[M].Heidelberg:Springer,2013:70-78.
[10]王欣,李铁山,林彬.考虑舵机特性的船舶航向离散非线性系统输出反馈控制设计[J].大连海事大学学报,2014,40(2):1-4.WANG Xin,LI Tieshan,LIN Bin.Output feedback control for ship course discrete-time nonlinear system with rudder dynamics[J].Journal of Dalian Maritime University,2014,40(2):1-4.
[11]贾欣乐,杨盐生.船舶数学模型[M].大连:大连海事大学出版社,1999:263-264.
[12]JAGANNATHAN S,LEWIS F L.Discrete-time neural net controller for a class of nonlinear dynamical systems[J].IEEE Transactions on Automatic Control,1996,41(11):1693-1699.
[13]GE S S,LI G Y,LEE T H.Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems[J].Automatica,2003,39(5):807-819.