航向保持鲁棒最小二乘支持向量机控制

考虑到船舶航向控制中,存在的大量不确定因素及对控制系统的实时性要求,提出一种基于鲁棒最小二乘支持向量机(RLSSVM)的船舶航向保持控制方案.该控制策略充分利用最小二乘支持向量机良好的非线性映射能力、自学习适应能力和并行信息处理能力,并与H~2/H~∞鲁棒控制算法相结合,优势互补,形成闭环控制.仿真结果表明,该系统对海情的变化有良好的自适应能力,鲁棒性强,实现了航向保持精确控制.

Robust LSSVM Control for Ship Course-Keeping System

According to the conditions of ship course control, the massive uncertain factors and the control system real-time request, a ship course-keeping control scheme of robust least squares support vector machine(RLSSVM) is proposed, which makes full use of the nonlinear mapping ability, self-learning adaptability and parallel information processing of the least squares support vector machine. Combining with H~2/H~∞ robust control method, advantages are complemented, and the closed-loop control is formed. The simulation result shows that, the control system has good adaptive ability with sea condition variance, and robustness is strong, which realizes ship course-keeping accurate control.