| 智能船舶自动舵系统自适应模糊输出反馈控制 |
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| 引用本文： | 朱丽燕,李铁山.智能船舶自动舵系统自适应模糊输出反馈控制[J].南京气象学院学报,2021,13(1):22-28. |
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| 作者姓名： | 朱丽燕 李铁山 |
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| 作者单位： | 大连海事大学 航海学院, 大连, 116026,大连海事大学 航海学院, 大连, 116026;电子科技大学 自动化工程学院, 成都, 611731 |
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| 基金项目： | 国家自然科学基金（51939001，61976033）；大连市重点学科重大课题科技创新基金（2018J11CY022）；辽宁省兴辽英才计划高水平创新创业团队（XLYC1908018）；辽宁省自然科学基金（2019-ZD-0151）；中央高校基本科研业务费项目（3132019345） |
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| 摘 要： | 针对智能船舶自动舵系统,考虑输入饱和、回转角速度未知和指定性能,提出一种自适应模糊控制算法.本文自适应模糊输出反馈算法采用状态观测器、辅助系统和误差转换系统,模糊逻辑系统用于估计未知非线性函数,状态观测器用于估计未知回转角速度状态,辅助系统和误差转换系统分别用于补偿不匹配控制信号和变换航向角追踪误差.基于Lyapunov方法证明了闭环系统内所有信号是有界的,仿真结果进一步验证了本文算法的有效性.
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| 关 键 词： | 自适应模糊控制 自动舵 指定性能 输入饱和 状态观测器 |
| 收稿时间： | 2020/10/24 0:00:00 |
Adaptive fuzzy output feedback control for intelligent ship autopilot system |
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| ZHU Liyan and LI Tieshan.Adaptive fuzzy output feedback control for intelligent ship autopilot system[J].Journal of Nanjing Institute of Meteorology,2021,13(1):22-28. |
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| Authors: | ZHU Liyan and LI Tieshan |
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| Institution: | Navigation College, Dalian Maritime University, Dalian 116026 and Navigation College, Dalian Maritime University, Dalian 116026;School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731 |
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| Abstract: | In this paper,the design problem of intelligent ship autopilot with input saturation,unmeasured yaw rate and prescribed performance is investigated.An adaptive fuzzy output feedback controller is proposed based on state observer,auxiliary system and error transformation system.The fuzzy logic system (FLS) is employed to estimate the unknown nonlinear function,a state observer is designed to estimate the unmeasured yaw rate,an auxiliary signal for input saturation is established to compensate the mismatch between the controller signal and the actuator signal,and an error transformation system is also established to handle the ship heading tracking error.According to Lyapunov theory,the closed-loop system is proved to be bounded for all signals.Finally,simulation results are given to verify the effectiveness of the proposed scheme. |
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| Keywords: | adaptive fuzzy control autopilot prescribed performance input saturation state observer |
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