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从半潜式平台定位系统的经济性及安全性角度出发,提出基于锚链切换控制的自动锚泊定位系统新方案.针对方案中具有输入延时及不确定性的特点,设计了带有输入延时的保性能控制器,以产生抵抗环境扰动所需的控制输入.基于LMI方法给出控制器存在的充分条件,通过求解相应的线性矩阵不等式得到系统的保性能控制律.仿真结果表明,所设计的控制器能有效解决锚泊自动定位系统的参数不确定性及输入延时问题,从而提高系统的精度和性能.
Aiming at economy and safety of semi-submersible platform positioning system, a new scheme of automatic anchor positioning system based on chain switch control is proposed. According to the characteristics of input delay and uncertainty in scheme, Time controller to generate the control inputs required to resist environmental disturbances.Based on the LMI method, sufficient conditions for the existence of controllers are given and the guaranteed cost control law of the system is obtained by solving the corresponding linear matrix inequalities.The simulation results show that The designed controller can effectively solve the problem of parameter uncertainty and input delay of the automatic positioning system for anchoring, so as to improve the accuracy and performance of the system.