[1]刘志林,李国胜,张军.有横摇约束的欠驱动船舶航迹跟踪预测控制[J].哈尔滨工程大学学报,2019,40(02):312-317.[doi:10.11990/jheu.201712049]
 LIU Zhilin,LI Guosheng,ZHANG Jun.Predictive control for straight path following of underactuated surface vessels with roll constraints[J].hebgcdxxb,2019,40(02):312-317.[doi:10.11990/jheu.201712049]
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年02期
页码:
312-317
栏目:
出版日期:
2019-02-05

文章信息/Info

Title:
Predictive control for straight path following of underactuated surface vessels with roll constraints
作者:
刘志林1 李国胜1 张军2
1. 哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001;
2. 江苏大学 电气信息工程学院, 江苏 镇江 212013
Author(s):
LIU Zhilin1 LI Guosheng1 ZHANG Jun2
1. College of Automation, Harbin Engineering University, Harbin 150001, China;
2. Electrical and Information Engineering College, Jiangsu University, Zhenjiang 212013, China
关键词:
欠驱动船舶直线航迹跟踪横摇角约束自适应卡尔曼滤波混合H2/H预测控制
分类号:
TP391.9
DOI:
10.11990/jheu.201712049
文献标志码:
A
摘要:
针对欠驱动水面船舶在直线航迹跟踪中受到强烈的风、浪、流时变干扰影响时出现大幅度的摇荡运动的情况,采用自适应卡尔曼状态估计和鲁棒预测控制,提出一种具有横摇角约束的控制器综合设计方法。建立时变干扰作用下的仿射切换系统模型及测量模型;基于扩展状态的自适应卡尔曼滤波方法,对船舶模型的状态和随机干扰力矩进行估计,并对估计的干扰力矩进行前馈补偿。考虑船舶的真实状态与卡尔曼观测状态之间存在观测误差,将控制器与观测器综合考虑,提出一种基于状态观测器和H2/H混合性能指标的直接约束鲁棒预测控制,在性能指标与控制器设计中直接利用观测状态;将状态约束、鲁棒稳定性约束、性能指标转化为LMI (线性矩阵不等式)的凸优化问题。理论证明了所设计闭环系统的一致有界稳定性,并且通过仿真验证了控制器能实现直线航迹鲁棒跟踪,在保证横摇角在约束范围内,对干扰有着有效的抑制作用。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-12-14。
基金项目:国家自然科学基金项目(51379044);中央高校基本科研业务费(HEUCF0417).
作者简介:刘志林,男,教授,博士生导师;李国胜,男,博士研究生.
通讯作者:李国胜,E-mail:lewislee92@163.com
更新日期/Last Update: 2019-01-30