Robust controller design for course changing / course keeping control of a ship using PSO enabled automated quantitative feedback theory
Robust controller design for course changing / course keeping control of a ship using PSO enabled automated quantitative feedback theory
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DOI：
10.1109/tencon.2008.4766753
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发表时间：
2008-11
期刊：
影响因子：
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通讯作者：
B. Satpati;I. Bandyopadhyay;C. Koley;S. Ojha
中科院分区：
文献类型：
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作者：
B. Satpati;I. Bandyopadhyay;C. Koley;S. Ojha
利用粒子群优化(PSO)自动定量反馈理论，设计了货船在不确定环境下的鲁棒航向控制器。这里考虑的植物模型是具有结构参数变化的Nomotopsilas二阶模型。本文采用Nomotopsilas二阶模型，因为它也适用于高频，而一阶模型仅限于低频。本文采用粒子群优化的自动QFT设计方法，综合出一种鲁棒航向控制器，该控制器能够准确地承受被控对象的不确定性，并能在整个频率范围内的鲁棒稳定性指标和跟踪性能之间取得适当的折衷。本工作是第一作者工作的继续，其中控制器是在考虑相同过程模型的情况下人工综合的。但本文采用粒子群算法对控制器进行自动整定，与人工图形化方法相比，可以大大减少计算量。研究还表明，这种方法不仅可以实现环路成形的自动化，还可以提高设计质量，最有效的是，通过降阶控制器来提高设计质量。
This paper presents the design of a robust course controller for a cargo ship interacting with an uncertain environment using particle swarm optimization (PSO) enabled automated quantitative feedback theory. The plant model considers here is Nomotopsilas second order model, with structure parametric variation. In the present paper we have taken Nomotopsilas second order model as it is valid for high frequencies also, while first order model is restricted to low frequencies. In the present paper, the automated PSO enabled QFT design method is used to synthesize a robust course controller that can undertake the exact amount of plant uncertainty and can ensure a proper trade off between robust stability specifications and tracking performance over the entire range of frequencies. The present work is the continuation of the work done by the first author where controller is synthesized manually with the consideration of same process model. But in this article the PSO technique has been employed to tune the controller automatically that can greatly reduces the computational effort compared to manual graphical techniques. It has also been demonstrated that this methodology not only automates loop-shaping but also improves design quality and, most usefully, improves the quality with a reduced order controller.