| 遗传优化的欠驱动船舶镇定控制 |
| |
| 引用本文： | 刘杨,郭晨,张闯. 遗传优化的欠驱动船舶镇定控制[J]. 计算机工程与应用, 2009, 45(8): 204-207. DOI: 10.3778/j.issn.1002-8331.2009.08.062 |
| |
| 作者姓名： | 刘杨 郭晨 张闯 |
| |
| 作者单位： | 大连海事大学信息科学技术学院,辽宁,大连,116026;大连海事大学信息科学技术学院,辽宁,大连,116026;大连海事大学信息科学技术学院,辽宁,大连,116026 |
| |
| 摘 要： | 针对带有加速度非完整约束的三自由度欠驱动水面船舶镇定问题，提出了一种基于微分同胚等效变换和Lyapunov直接法的后推镇定控制算法，同时为了解决因系统输入固有饱和特性而导致控制不稳定问题，提出了基于遗传优化的欠驱动水面船舶镇定控制改进算法。并对风浪干扰进行了Lyapunov补偿，保证了控制器对外界干扰的鲁棒性。仿真实验表明了该算法的有效性，并且优化后的控制器有效地防止了因控制能量过大导致的系统不稳问题。
|
| 关 键 词： | 欠驱动水面船舶 镇定 非完整约束 Lyapunov函数 遗传算法 |
| 收稿时间： | 2008-09-08 |
| 修稿时间： | 2008-10-16 |
Stabilization of underactuated surface vessel with Genetic Algorithm optimization |
| |
| LIU Yang,GUO Chen,ZHANG Chuang. Stabilization of underactuated surface vessel with Genetic Algorithm optimization[J]. Computer Engineering and Applications, 2009, 45(8): 204-207. DOI: 10.3778/j.issn.1002-8331.2009.08.062 |
| |
| Authors: | LIU Yang GUO Chen ZHANG Chuang |
| |
| Affiliation: | College of Information Science and Technology，Dalian Maritime University，Dalian，Liaoning 116026，China |
| |
| Abstract: | Based on the diffeomorphism equivalent transformation and Lyapunov feedback function law,a backstepping controller is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints.And because of system with saturation input,an improved method based on genetic algorithm is presented to solve the unstable stability problem.The distur-bances are compensated by Lyapunov method.Numerical simulation results show the effectiveness of the method,and the optimized controller preven... |
| |
| Keywords: | underactuated surface vessels stabilization nonholonomic constraint Lyapunov function Genetic Algorithm（GA） |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《计算机工程与应用》浏览原始摘要信息 |
|
点击此处可从《计算机工程与应用》下载免费的PDF全文 |
