Full-drive ship trajectory tracking control method and system based on instruction filtering neural network controller

A ship trajectory and tracking control technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as poor navigational applicability of full-drive ships, and achieve the effect of optimizing trajectory output performance

Active Publication Date: 2021-04-06
HARBIN INST OF TECH
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  • Abstract
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is that the existing full-drive ship trajectory trac...

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  • Full-drive ship trajectory tracking control method and system based on instruction filtering neural network controller
  • Full-drive ship trajectory tracking control method and system based on instruction filtering neural network controller
  • Full-drive ship trajectory tracking control method and system based on instruction filtering neural network controller

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Embodiment 1

[0112] Such as figure 1 As shown, the present invention provides a kind of all-drive ship trajectory tracking control method based on command filter neural network controller, and this method comprises the following steps:

[0113] Step S1: Establish the full-drive ship system model, and consider the input saturation characteristics to construct the input-limited full-drive ship system model. The specific process is as follows:

[0114] Define the inertial coordinate system O-X0Y0Z0, where the O-X0 axis points to the true north direction, the O-Y0 axis points to the true east direction, and the O-Z0 axis points to the direction of the center of the earth. Assuming that the ship is left-right symmetrical, define the appendage coordinate system D-XYZ, where D represents the geometric center point of the bow-stern line of the ship, the D-X axis extends from the ship’s geometric center point to the bow, and the D-Y axis extends from the ship’s geometric center point to the starboa...

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Abstract

The invention provides a full-drive ship trajectory tracking control method based on an instruction filtering neural network controller, which comprehensively considers unknown ship model parameters, external environment interference, input limitation and ship output transient state and steady state performance constraint, and effectively processes the problem of input limitation by utilizing an instruction filter. The method comprises steps that unknown parameters of the system are estimated by using the RBF neural network and the predictor, and approximation precision of the neural network is improved; recursive errors are designed for controller design, and non-vulnerability of the system is improved; the time-varying asymmetric obstacle Lyapunov function and the performance function are combined to effectively constrain the transient performance and the steady-state performance of the ship output trajectory, the application range is expanded, and the performance of the controller is better.

Description

technical field [0001] The present invention relates to the technical field of all-drive ship control, in particular to a full-drive ship trajectory tracking control method and system based on a command filtering neural network controller. Background technique [0002] With the continuous development of science and technology, research scholars have deepened their research in the field of ship motion control. In recent years, breaking through the core technology of intelligent ships and developing high-performance ships has become one of the key strategies of my country's scientific and technological power. In order to promote the continuous development of ships to a higher level of automation and intelligence, the control of ships in complex environments is becoming more and more received people's attention. The full-drive ship is a typical ship system, mainly used in fields that require high precision and high safety, such as marine resource exploration, marine firefightin...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05B13/02G05D1/02
CPCG05B13/042G05B13/027G05D1/0206
Inventor 邱剑彬王桐毕艳楠马敏
Owner HARBIN INST OF TECH
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