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考虑具有不确定动态和外界环境干扰的欠驱动水面船舶编队控制问题,提出一种基于领导/跟随和目标跟踪机制的神经网络稳定自适应控制方法。基于目标跟踪误差设计了运动学跟踪控制器,推导出跟踪误差的动力学方程,并利用自适应神经网络估计动力学方程中的不确定项,构造了神经网络稳定自适应动力学跟踪控制器。应用Lyapunov稳定性理论和串接系统稳定性定理设计了船舶控制器,并计算了自适应律,在线调整神经网络权值,保证编队控制闭环系统跟踪误差一致最终有界。以3艘船舶组成的编队为例,对控制方法进行了仿真验证。在曲率半径为3倍船长的圆形跟踪路径上,转向角误差小于15°,队形跟踪误差的F-范数小于1m;在直线跟踪路径上,转向角误差小于1°,队形跟踪误差F-范数小于0.1m。
Considering the formation control of under-driven surface ships with uncertain dynamics and external environmental disturbances, a neural network adaptive control method based on leader / follow and target tracking is proposed. The kinematic tracking controller is designed based on the target tracking error, the dynamic equation of the tracking error is deduced, and the adaptive neural network is used to estimate the uncertainties in the dynamic equations to construct a neural network adaptive adaptive tracking controller. The controller of ship is designed by the Lyapunov stability theory and the stability theorem of tandem system. The adaptive law is calculated and the weights of the neural network are adjusted online to ensure that the tracking error of the closed-loop control system is consistent and finally bounded. Take the formation of three ships as an example, the control method is verified by simulation. The steering angle error is less than 15 ° and the F-norm of formation tracking error is less than 1 m on the circular tracking path with a radius of curvature of 3 times. On the straight path, the steering angle error is less than 1 °. The tracking error F-norm is less than 0.1m.