| 欠驱动船舶路径跟踪的神经网络稳定自适应控制 |
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| 引用本文： | 刘杨,郭晨,沈智鹏,刘雨,郭迪. 欠驱动船舶路径跟踪的神经网络稳定自适应控制[J]. 控制理论与应用, 2010, 27(2): 169-174 |
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| 作者姓名： | 刘杨 郭晨 沈智鹏 刘雨 郭迪 |
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| 作者单位： | 1. 大连海事大学信息科学技术学院,辽宁,大连,116026
2. 北京航空航天大学仪器科学与光电工程学院,北京,100191 |
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| 基金项目： | 国家自然科学基金资助项目(60774046). |
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| 摘 要： | 针对三自由度欠驱动船舶模型参数不确定的路径跟踪问题, 设计了神经网络稳定自适应控制器. 首先应用微分同胚等效变换和Lyapunov直接法设计参考航向和参考速度, 然后对船舶模型参数不确定的操纵环路和推进环路分别设计神经网络稳定自适应控制器跟踪参考航向和参考速度, 并对外界风浪流干扰进行自适应补偿.Lyapunov稳定性分析证明了船舶路径跟踪闭环系统的所有误差信号一致最终有界. 仿真研究验证了神经网络稳定自适应路径跟踪器的有效性.
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| 关 键 词： | 欠驱动船舶 路径跟踪 Lyapunov直接法 神经网络 稳定自适应自动舵 |
| 收稿时间： | 2009-06-18 |
| 修稿时间： | 2009-09-04 |
Stable adaptive neural network control of path following for underactuated ships |
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| LIU Yang,GUO Chen,SHEN Zhi-peng,LIU yu and GUO Di. Stable adaptive neural network control of path following for underactuated ships[J]. Control Theory & Applications, 2010, 27(2): 169-174 |
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| Authors: | LIU Yang GUO Chen SHEN Zhi-peng LIU yu GUO Di |
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| Affiliation: | College of Information Science and Technology, Dalian Maritime University,College of Information Science and Technology, Dalian Maritime University,College of Information Science and Technology, Dalian Maritime University,College of Information Science and Technology, Dalian Maritime University,School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics & Astronautics |
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| Abstract: | We propose a stable adaptive-neural-network control for the path following in a 3 degrees-of-freedom (3DOF) underactuated ship with parameters uncertainties and disturbances. Based on the diffeomorphism transformation and Lyapunovdirect method, controllers for the reference yaw angle and the reference speed are designed. Signal errors in the closed-loop path following system are proved to be uniformly ultimately bounded in a small neighborhood of zero. Numerical simulation results are given to illustrate the effectiveness of the stable adaptive-neural-network algorithm. |
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| Keywords: | underactuated ships path tracking Lyapunov direct method neural network stable adaptive autopilot |
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