Anti-interference trajectory tracking control method for beacon vessel

A trajectory tracking and control method technology, applied in two-dimensional position/channel control, attitude control, adaptive control and other directions, can solve the problems of large control force, increase rudder loss, ignore ship-shore interaction, etc. The effect of short time and small overshoot

Active Publication Date: 2020-12-15
交通运输部东海航海保障中心连云港航标处 +1
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AI Technical Summary

Problems solved by technology

Large ship-shore interaction effects can even cause the ship to capsize
However, in ship motion control, the existence of ship-shore interaction is usually ignored
Third, sudden disturbances can cause excessive control force, resulting in excessive actuator drive power
Any actuator has

Method used

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  • Anti-interference trajectory tracking control method for beacon vessel
  • Anti-interference trajectory tracking control method for beacon vessel
  • Anti-interference trajectory tracking control method for beacon vessel

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Embodiment Construction

[0023] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0024] Such as figure 1 As shown, the present invention provides an anti-jamming trajectory tracking control method for a beacon ship, and designs an adaptive fractional-order sliding mode control method, which considers the wall effect and the interference of wind, current and wave on the ship's motion, and uses the radial basis function neural network to estimate Unknown parameters of the ship model, environmental disturbance, and trajectory tracking error; based on the Lyapunov stability theory, the trajectory tracking error converges to zero, thereby making the system rapidly asymptotically stable; the learning algorithm of the threshold vector in the radial basis function uses a fractional gradient Momentum Descent Algorithm. The specific implementation steps of this method are as follows:

[0025] Step S1, establishing an underact...

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Abstract

The invention relates to an anti-interference trajectory tracking control method for a beacon vessel. The anti-interference trajectory tracking control method is characterized by designing a self-adaptive fractional order sliding mode control method, considering the interference of a quay wall effect and wind waves on ship motion, and estimating unknown parameters, environmental disturbance and trajectory tracking errors of a vessel model by utilizing a radial basis function neural network; on the basis of a Lyapunov stability theory, enabling a trajectory tracking error to be converged to zero, so that the system is rapidly asymptotically stabilized; and adopting a fractional order gradient momentum descent algorithm for a learning algorithm of a threshold vector in a radial basis function. According to the anti-interference trajectory tracking control method for the beacon vessel, an underactuated vessel can be self-adjusted and rapidly reach a preset position when being interfered.

Description

technical field [0001] The invention relates to an anti-jamming trajectory tracking control method for a navigation mark ship. Background technique [0002] The low-speed stability and maneuverability of the existing navigation mark ships are poor. There are no side propulsion devices. It is an underactuated ship with poor low-speed stability and maneuverability; it does not have the dynamic positioning function to stabilize the ship's position under the influence of wind, current and waves. Special requirements for buoy operations (especially articulated lampposts, sunken stones backlogged by silt, etc.). [0003] How to design robust controllers for ships is still a challenging problem due to the influence of model errors, parameter changes and external disturbances. First of all, the existence of drift angle is usually ignored in heading control, but the actual yaw angle is not zero, which will lead to a drift angle difference between the actual direction of motion of ...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05B13/02G05D1/02G05D1/08
CPCG05B13/042G05B13/027G05D1/0206G05D1/0875
Inventor 宓宗龙薛晗俞万能卢细平程鑫王为庚张涛张卫成胡稳才李丽娜兰培真
Owner 交通运输部东海航海保障中心连云港航标处
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