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1.
船舶动力定位系统的预测模糊控制 总被引：1，自引：0，他引：1
在船舶动力定位中采用预测模糊控制策略,即通过自校正滤波与Ｋａｌｍ ａｎ 滤波得到系统低频运动位置偏差与相应速度的预测值作为模糊控制器的输入,以实现对其在水平面内的运动控制。因为基于系统模型的滤波器输出最终是经模糊化后输入至模糊控制器的,于是可大大降低对系统建模的精度要求,控制器本身具有强的鲁棒性。仿真结果说明了该策略的可行性及良好的控制性能。 相似文献
2.
Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle 总被引：1，自引：0，他引：1
This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves. 相似文献
3.
Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances 总被引：1，自引：0，他引：1
In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface. 相似文献
4.
In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible. 相似文献
5.
This paper proposes a saturated tracking controller for underactuated autonomous marine surface vehicles with limited torque. First, a second-order open-loop error dynamic model is developed in the actuated degrees of freedom to simplify the design procedure. Then, a saturated tracking controller is designed by utilizing generalized saturation functions to reduce the risk of actuator saturation. This, in turn, improves the transient performance of the control system. A multi-layer neural network and adaptive robust control techniques are also employed to preserve the controller robustness against unmodeled dynamics and environmental disturbances induced by waves and ocean currents. A Lyapunov stability analysis shows that all signals of the closed-loop system are bounded and tracking errors are semi-globally uniformly ultimately bounded. Finally, simulation results are provided for a hovercraft vehicle to illustrate the effectiveness of the proposed controller as a qualified candidate for real implementations in offshore applications. 相似文献
6.
Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online. 相似文献
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8.
A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed. 相似文献
9.
A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes. 相似文献
10.
The high-speed supercavitating vehicle (HSSV) utilizes advanced technology that enables an underwater vehicle to reach its unprecedented high speed. The vertical motion control of the HSSV is challenging problem because of its complex dynamics with nonlinear planing force, parametric uncertainties, external disturbances, actuator saturation, and sensor noises. This paper deals with dynamical analysis and a robust H∞ loop-shaping synthesis with modified PID (proportional-integral-derivative) algorithm to control the dive plane maneuver of the HSSV. Typically, the control scheme has the low order structure and provides robustness against dynamic uncertainties, which can be implemented using the bilinear matrix inequality (BMI) optimization of an equivalent Schur formula. Simulation results show that the controlled vehicle system provides good performance and high robustness against uncertainties, ensuring no-overshoot and fast in time-domain responses. In addition, the control algorithm can decouple the dynamic interactions in the multi-input multi-output (MIMO) system, overcoming parametric uncertainty, planing force, and actuator saturation while minimizing the effect of the strong external disturbances and measurement noises. 相似文献
11.
1 .IntroductionWiththedevelopmentofoceantechnology ,moreandmoreextremelylargeandlongflexibleoff shoreplatformsusedforoilexplorationanddrillingoperationarebuiltinhostileoceanenvironments .Ingeneral,thiskindofplatformsisanonlineardistributedparametersystemanditsnaturalfrequencyfallsclosertothedominantwavefrequencieswiththeincreaseofwaterdepth .Besides ,itsstructureisverycomplexandtheexternalwaveforceontheplatformisuncertain .Thus ,theseplatformsarepronetoexcessivewave inducedoscillationsunderbot… 相似文献
12.
Two seismic hybrid control methods are studied in this article to mitigate the seismic hazard of girder bridges; one is applied for short-span simply supported, box section girders of concrete bridges using the hybrid mass damper (HMD), the other is applied for long-span girders of concrete bridges to hybridize viscoelastic dampers and actuators. The robustness of the control effect has been paid more attention here. The randomicity of the seismic excitation and the stability of the control algorithm are also taken into account. 相似文献
13.
《Marine Georesources & Geotechnology》2013,31(3-4):307-314
Two seismic hybrid control methods are studied in this article to mitigate the seismic hazard of girder bridges; one is applied for short-span simply supported, box section girders of concrete bridges using the hybrid mass damper (HMD), the other is applied for long-span girders of concrete bridges to hybridize viscoelastic dampers and actuators. The robustness of the control effect has been paid more attention here. The randomicity of the seismic excitation and the stability of the control algorithm are also taken into account. 相似文献
14.
The current control system of a fully-submerged hydrofoil craft based on optimal feedback control has several problems: it has no good performance of contouring waves and it cannot reduce the effect of wave disturbance. In this paper, we apply the optimal preview servo system to the longitudinal control system of a fully-submerged hydrofoil craft in order to settle the problems of current control system. The control system based on optimal preview servo system is composed of feedback controller and feedforward controller. Also in order to design the control system, the necessary prediction range of future information, the weight function in performance index, the future reference input and wave disturbance are determined. Finally, the validity of the proposed control system in this paper is confirmed by simulation. The simulation results show that the control system has good performance of contouring waves in following seas and is effective to settle the problems of current control system of a fully-submerged hydrofoil craft. 相似文献
15.
This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China.The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module.A control energy cost function is used as the optimization criteria of the control allocation module,and weighted pseudo-inverse is used to find the solution of the control allocation problem.In the presence of bounded unknown disturbance and neural networks approximation error,stability of the closed-loop control system of manned submersible is proved with Lyaponov theory.The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea. 相似文献
16.
This paper presents an improved active disturbances rejecter control (ADRC) for path following control of autonomous underwater vehicles under significant fast-varying disturbances caused by waves and sea currents. Two significant and efficient improvements are introduced to the traditional ADRC in order to accomplish this task. First, a generalized ESO (GESO) and Harmonic ESO (HESO) were designed to achieve a high disturbances estimation quality. Secondly, two AUV path following controllers based on ADRC-GESO and ADRC-HESO were designed to ensure a high performance tracking in presence of periodic-type disturbances. Finally, numerical simulations were performed and the obtained results showed very significant enhancements of robustness and tracking accuracy by the proposed methods compared to conventional ADRC. 相似文献
17.
针对网络控制系统中存在的不确定时滞,将网络控制系统模型转化为不确定系数的离散时间模型。利用Lya-punov稳定性理论和线性矩阵不等式技术,提出动态输出鲁棒控制器的设计方法,同时给出闭环系统鲁棒渐近稳定的充分条件。仿真例子验证了所提方法的有效性。 相似文献
18.
The large roll motion of ships sailing in the seaway is undesirable because it may lead to the seasickness of crew and unsafety of vessels and cargoes, thus it needs to be reduced. The aim of this study is to design a rudder roll stabilization system based on Radial Basis Function Neural Network (RBFNN) control algorithm for ship advancing in the seaway only through rudder actions. In the proposed stabilization system, the course keeping controller and the roll damping controller were accomplished by utilizing modified Unscented Kalman Filter (UKF) training algorithm, and implemented in parallel to maintain the orientation and reduce roll motion simultaneously. The nonlinear mathematical model, which includes manoeuvring characteristics and wave disturbances, was adopted to analyse ship’s responses. Various sailing states and the external wave disturbances were considered to validate the performance and robustness of the proposed roll stabilizer. The results indicate that the designed control system performs better than the Back Propagation (BP) neural networks based control system and conventional Proportional-Derivative (PD) based control system in terms of reducing roll motion for ship in waves. 相似文献
19.
一类非线性系统次优控制的灵敏度法 总被引：1，自引：0，他引：1
本文研究一类非线性定常系统的次优控制问题。通过在系统中引入 1个灵敏度参数并将系统变量关于灵敏度参数展开 Maclaurin级数 ,使求解最优控制的非线性两点边值问题化为一族线性两点边值问题。利用截取最优控制级数的有限项求得系统的次优控制律。仿真实例表明 ,该方法对非线性系统次优控制律的设计是有效的 相似文献
20.
研究控制变量含有时滞的线性系统在外部正弦干扰下的最优减振预测控制问题。利用系统的控制向量和被控对象的预测输出向量 ,设计了 1种全维状态预测观测器。并将该状态观测器用于时滞控制系统的最优前馈 -反馈预测控制中。频域分析表明 ,应用该状态预测观测器可将闭环系统的时滞项移至系统闭环结构之外 ,从而其优化控制规律完全可以按无时滞系统进行设计。时域分析表明 ,设计的预测控制器对外部正弦干扰有较强的鲁棒性 ,得到的结果关于二次型平均性能指标是次优的 相似文献