A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning
A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning
复制标题
使用低频增益学习的新型 DVS 制导原理和鲁棒自适应路径跟踪控制，用于欠驱动船舶
DOI：
10.1016/j.isatra.2014.12.002
复制
发表时间：
2015
期刊：
影响因子：
7.3
通讯作者：
Zhang Xianku
中科院分区：
文献类型：
--
作者：
Zhang Guoqing;Zhang Xianku
围绕海洋船舶基于航路点的路径跟踪控制，开发了一种新颖的动态虚拟船舶（DVS）制导原理，以实现“使用虚拟船舶生成参考路径”的假设，这对于将当前理论研究应用于实践至关重要。以两个可操纵变量作为控制输入，利用鲁棒神经阻尼和动态表面控制（DSC）技术提出鲁棒自适应方案。所推导的控制器具有结构简洁、易于实现等优点。此外，低频学习方法提高了算法的适用性。最后，与基于视线（LOS）的模糊方案进行了比较实验，以证明我们结果的有效性。
Around the waypoint-based path-following control for marine ships, a novel dynamic virtual ship (DVS) guidance principle is developed to implement the assumption “the reference path is generated using a virtual ship”, which is critical for applying the current theoretical studies in practice. Taking two steerable variables as control inputs, the robust adaptive scheme is proposed by virtue of the robust neural damping and dynamic surface control (DSC) techniques. The derived controller is with the advantages of concise structure and being easy-to-implement for its burdensome superiority. Furthermore, the low frequency learning method improves the applicability of the algorithm. Finally, the comparison experiments with the line-of-sight (LOS) based fuzzy scheme are presented to demonstrate the effectiveness of our results.