输入饱和船舶航向保持系统的近最优控制方法

Zhenkai Huang, Tie-shan Li
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引用次数: 1

摘要

本文将最优控制方法应用于具有输入饱和的二阶非线性船舶航向保持系统。采用非二次泛函作为性能指标,给出了约束控制输入。使用神经网络(NN)来近似与每个LE相关的成本函数。以某船为例,通过仿真试验验证了所设计控制算法的运行质量。为了得到比较的参考结果,还研究了另一种采用反步法的控制算法。仿真结果验证了所提出的能量消耗较小的近最优控制律的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Nearly optimal control approach to ship course-keeping system with input saturation
In this paper, an optimal control method is applied to a second-order nonlinear ship course-keeping system with input saturation. By using a nonquadratic functional as performance index the constrained control input is formulated. Neural network (NN) is employed to approximate the cost function associated with each LE. The quality of operation of the designed control algorithm is checked in simulation tests by taking a ship as an example. In order to obtain reference results for comparison, another control algorithm using the backstepping method is examined as well. The results verified the effectiveness of the nearly optimal control law with less consumption of energy.
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