Filtering backstepping ship movement control system based on self-adaption fuzzy estimator

Abstract

The invention provides a filtering backstepping ship movement control system based on a self-adaption fuzzy estimator. The filtering backstepping ship movement control system comprises a control system (2), a guide system (4), a diffeomorphism exchanger (6), a data processing system (7) and a sensor system (12). The guide system (4) obtains the expectation position, the expectation heading and the expectation speed of a ship at each moment. The sensor system (12) comprises a pose sensor (11) and a speed sensor (10). The data processing system (7) comprises a data fusion system (9) and a filtering system (8). The control system (2) comprises a filtering backstepping controller (3) and the self-adaption fuzzy estimator (5). The self-adaption fuzzy estimator (5) simultaneously receives data from the guide system (4) and the diffeomorphism exchanger (6). The filtering backstepping controller (3) simultaneously receives expectation information and differential coefficients of the expectation information which are provided by the guide system (4), new state variable information provided by the diffeomorphism exchanger (6), and estimated output, provided by the self-adaption fuzzy estimator (5), for unknown nonlinear functions.

Description

technical field [0001] The invention relates to a ship motion control system. Background technique [0002] In recent years, rich marine resources have attracted the attention of all countries, and countries have also paid more and more attention to marine engineering and marine development. With the increasing frequency of people's sea activities, the fields related to ship control have attracted extensive attention of researchers. Ship course control, track control, path tracking and dynamic positioning technology have also become hot spots in the field of control research. [0003] In the design process of ship motion controllers, most nonlinear control methods are based on model information, and it is usually very difficult to establish an accurate system model, so the research on ship motion when the model has unknown information is based on adaptive fuzzy Estimator nonlinear control method is necessary. In addition, in the process of controller design using the conve...

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Problems solved by technology

However, the above studies are all carried out for systems with known models.

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