船舶动力定位反步逆最优控制

发布时间：2018-03-25 07:23

  本文选题：动力定位　切入点：无源滤波　出处：《大连理工大学学报》2017年01期

【摘要】：针对动力定位船舶定点定位过程中的高低频运动特性,设计了一种基于无源滤波的反步逆最优控制器.首先建立船舶的非线性方程,再利用线性化方程对应的Riccati方程对船舶非线性方程进行反步变换,最后基于Lyapunov函数设计了未建模扰动环境力自适应律和渐进稳定的控制律,同时满足了局部性能指标和全局性能指标.该方法从一个新的角度解决定点定位过程中船舶非线性系统最优控制的问题,避免了传统H∞鲁棒控制需要求解Hamilton-Jacobi-Isaacs(HJI)方程的问题,保证了整个滤波和控制系统的稳定性.同时还研究了误差和控制权矩阵Q和R对系统性能的影响,确保了船舶低速定位过程中的能耗最优.动力定位船舶定点定位的仿真结果验证了该方法的有效性.
[Abstract]:According to the characteristics of high and low frequency motion in the process of dynamic ship fixed point positioning, a reverse step inverse optimal controller based on passive filtering is designed. Firstly, the nonlinear equation of ship is established. Finally, the adaptive law of unmodeled disturbance environment force and the control law of asymptotic stability are designed based on the Lyapunov function, using the Riccati equation corresponding to the linearization equation to carry on the inverse step transformation to the ship nonlinear equation. This method solves the problem of optimal control of ship nonlinear system in the process of fixed-point positioning from a new point of view, and avoids the problem that traditional H 鈭，

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