[1]段海庆,孙宏放.船舶直线控制反步自适应神经网络算法[J].南京理工大学学报(自然科学版),2012,36(03):427-431.
 DUAN Hai-qing,SUN Hong-fang.Adaptive Backstepping Neural Network Algorithm of Ship Line-course Control[J].Journal of Nanjing University of Science and Technology,2012,36(03):427-431.
点击复制

船舶直线控制反步自适应神经网络算法
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
36卷
期数:
2012年03期
页码:
427-431
栏目:
出版日期:
2012-06-30

文章信息/Info

Title:
Adaptive Backstepping Neural Network Algorithm of Ship Line-course Control
作者:
段海庆; 孙宏放;
哈尔滨工程大学自动化学院;
Author(s):
DUAN Hai-qingSUN Hong-fang
College of Automation,Harbin Engineering University,Harbin 150001,China
关键词:
船舶航向控制 反步法 径向基神经网络 非线性系统
Keywords:
ship course control backstepping method radial basis function neural network nonlinear systems
分类号:
TP273
摘要:
为了解决控制模型完全未知情况下非线性系统的控制问题,该文以船舶航向为控制对象,研究了径向基神经网络(RBFNN)方法。建立参数不确定的船舶运动的三阶非线性模型,针对系统的参数的不确定问题,提出了基于RBFNN估计的控制设计策略。利用神经网络对非线性参数不确定性进行了在线估计,然后利用反步法进行了控制器设计。RBFNN方法对于非线性系统提供了一种有效的解决方法,仿真结果证明了该方法的有效性。
Abstract:
In order to solve the control problem of nonlinear systems with uncertainties,a radial basis function(RBF)neural network(RBFNN)method for ship course control is studied here.A three-order nonlinear model with uncertain parameters is established.A controller design strategy based on the RBFNN estimation is proposed for the parameter uncertainties of the system.The RBFNN approach provides an effective way for controlling nonlinear systems.Simulation results demonstrate the effectiveness of the proposed approach.

参考文献/References:

[1] 郭晨,汪洋,孙富春,等. 欠驱动水面船舶运动控制研究综述[J]. 控制与决策, 2009, 24( 3) : 321-329.
Guo Chen,Wang Yang,Sun Fuchun,et al. Survey for motion control of underactuated surface vessels[J]. Control and Decision, 2009, 24( 3) : 321-329.
[2] 杨盐生. 船舶航向非线性系统自适应鲁棒自动舵的设计[J]. 大连海事大学学报, 2002, 28( 3) : 1-4.
Yang Yansheng. Design of adaptive robust control autopilot for ship steering with uncertain nonlinear system [J]. Journal of Dalian Maritime University,2002,28 ( 3) : 1-4.
[3] 杜佳璐,郭晨,张显库. 船舶运动航向自适应非线性控制的仿真研究[J]. 系统仿真学报,2005,17( 6) : 1445-1448.
Du Jialu,Guo Chen,Zhang Xianku. NN-based adaptive output feedback control of ship course[J]. Journal of System Simulation, 2005, 17( 6) : 1445-1448.
[4] 张利军,贾鹤鸣,金鸿章,等. 基于神经网络的船舶航向自适应输出反馈控制设计[J]. 南京理工大学学报, 2009, 33( 增刊) : 53-57.
Zhang Lijun, Jia Heming, Jin Hongzhang, et al. Simulation studies on adaptive nonlinear control of ship motion course[J]. Joumal of Nanjing University of Science and Technology, 2009, 33( Sup) : 53-57.
[5] Do K D,Pan J. Global way-point tracking control of underactuated ships under relaxed assumptions[A]. 42rd IEEE Conference on Decision and Control[C]. Maui,USA: IEEE, 2003: 1244-1249.
[6] Do K D,Pan J. Underactuated ships follow smooth paths: Full state-feedback[A]. 43rd IEEE Conference on Decision and Control[C]. Atlantis,USA: IEEE, 2004: 5354-5359.
[7] Ge S S,Wang C. Adaptive NN control of uncertain nonlinear pure-feedback systems[J]. Automatica, 2002, 38 ( 4) : 671-682.
[8] Ge S S,Wang C. Direct adaptive NN control for a class of nonlinear systems[J]. IEEE Transactions on Neural Networks, 2002, 13( 1) : 214-221.
[9] 周涌,陈庆伟,吴晓蓓,等. 基于动态神经网络解耦线性化的内模控制[J]. 南京理工大学学报,2004, 28( 6) : 566-670.
Zhou yong,Chen Qingwei,Wu Xiaopei,et al. Internal model control using dynamical neural network model and decoupling linearization[J]. Joumal of Nanjing University of Science and Technology, 2004, 28( 6) : 566 -670.
[10] 柴琳,费树岷,辛云冰. 线性时滞系统的新型自适应控制[J]. 南京理工大学学报, 2005, 29( 增刊) : 50-54.
Chai Lin,Fei Shumin,Xin Yunbing. New adaptive control for linear time-delay systems [J]. Joumal of Nanjing University of Science and Technology,2005, 29( Sup) : 50-54.
[11] Zhang T,Ge S S,Hang C C. Design and performance analysis of a direct adaptive controller for nonlinear systems [J]. Automatica, 1999, 35( 1) : 1809-1817.
[12] 李铁山,杨盐生,郑云峰. 不完全驱动船舶航迹控制输入输出线性化设计[J]. 系统工程与电子技术, 2004, 26( 7) : 945-948.
Li Tieshan,Yang Yansheng,Zheng Yunfeng. Inputoutput linearization designs for straight-line tracking control of underactuated ships [ J ]. Systems Engineering and Electronics, 2004, 26( 7) : 945-948.
[13] Skjetne R,Fossen T. Nonlinear maneuvering and control of ships[A]. OCEANS[C]. Honolulu,USA: IEEE, 2001: 1808-1815.

相似文献/References:

[1]李桂芳,杨成梧,张玉珍,等.一类非线性系统的自适应反馈无源化问题[J].南京理工大学学报(自然科学版),2005,(04):384.
 LI Gui-fang~,YANG Cheng-wu~,ZHANG Yu-zhen~,et al.Adaptive Feedback Passification of a Class of Nonlinear Systems[J].Journal of Nanjing University of Science and Technology,2005,(03):384.
[2]贾鹤鸣,宋文龙,陈子印,等.基于神经网络反步法的移动机器人路径跟踪控制[J].南京理工大学学报(自然科学版),2014,38(01):27.
 Jia Heming,Song Wenlong,Chen Ziyin,et al.Path following controller for mobile robots based on neural network backstepping[J].Journal of Nanjing University of Science and Technology,2014,38(03):27.
[3]周砚龙,陈 谋.基于干扰观测器的输入受限非线性系统鲁棒控制[J].南京理工大学学报(自然科学版),2014,38(01):40.
 Zhou Yanlong,Chen Mou.Robust control of nonlinear systems with input constraint based on disturbance observer[J].Journal of Nanjing University of Science and Technology,2014,38(03):40.

备注/Memo

备注/Memo:
国家自然科学基金(60875025)
更新日期/Last Update: 2012-10-12