Investigation of robust ship course control based on auxiliary loop method

Q3 Physics and Astronomy

Cybernetics and Physics Pub Date : 2021-12-31 DOI:10.35470/2226-4116-2021-10-4-248-252

A. Imangazieva

引用次数: 0

Abstract

A novel robust control law is investigated on the problem of ship stabilization on the trajectory, which allows one to compensate perturbations in the parameters of the mathematical model of ship dynamics in cases of their changes caused by external conditions, namely: sea waves, currents, wind gusts, etc. To implement the proposed control law, only measured adjustable values are required such as the yaw angle and the control action that is the angle of the rudder of the ship. The synthesized ship course control system was investigated in MATLAB. The law of controlling the ship’s course with unknown parameters and external disturbances in the power supply is proposed. The design of the control law is based on a robust auxiliary loop algorithm and Khalil observers. The simulations illustrate the efficiency of the proposed control law.

查看原文本刊更多论文

基于辅助回路方法的船舶航向鲁棒控制研究

针对船舶在轨道上的稳定问题，研究了一种新的鲁棒控制律，该控制律允许在外部条件（即海浪、洋流、阵风等）引起船舶动力学数学模型参数变化的情况下，对其进行扰动补偿。为了实现所提出的控制律，只需要测量的可调节值，例如偏航角和作为船舵角度的控制动作。在MATLAB环境下对船舶航向综合控制系统进行了研究。提出了在未知参数和外部电源干扰的情况下控制船舶航向的规律。控制律的设计基于鲁棒辅助环路算法和Khalil观测器。仿真结果表明了该控制律的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Cybernetics and Physics Chemical Engineering-Fluid Flow and Transfer Processes

CiteScore

1.70

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： The scope of the journal includes: -Nonlinear dynamics and control -Complexity and self-organization -Control of oscillations -Control of chaos and bifurcations -Control in thermodynamics -Control of flows and turbulence -Information Physics -Cyber-physical systems -Modeling and identification of physical systems -Quantum information and control -Analysis and control of complex networks -Synchronization of systems and networks -Control of mechanical and micromechanical systems -Dynamics and control of plasma, beams, lasers, nanostructures -Applications of cybernetic methods in chemistry, biology, other natural sciences The papers in cybernetics with physical flavor as well as the papers in physics with cybernetic flavor are welcome. Cybernetics is assumed to include, in addition to control, such areas as estimation, filtering, optimization, identification, information theory, pattern recognition and other related areas.