基于自适应模糊动态编程的具有输入死区的 USV 最佳航迹跟踪控制

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-09-14 DOI:10.1177/09596518241272850

Yuanhao Wang, Weiwei Bai, Wenjun Zhang, Shicai Chen, Yang Zhao

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引用次数: 0

摘要

本文研究了具有输入死区的无人水面飞行器（USV）系统的自适应模糊最优航迹跟踪控制问题。首先，将输入死区分为输入依赖函数和时变有界函数，作为系统不确定性来处理。其次，当船只在海上航行时，复杂的海洋环境给船只航向控制带来了巨大挑战。为了应对这一挑战，控制器分为前馈控制器和最优反馈控制器。前馈控制器的开发是为了提高航向跟踪性能，而最优反馈控制器的开发是为了实现基于自适应模糊动态编程（AFDP）的最优控制。最后，基于李亚普诺夫理论，保证了航迹跟踪性能和闭环系统中所有信号的均匀终极约束（UUB）。仿真结果表明该方法效果显著。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Optimal course tracking control of USV with input dead zone based on adaptive fuzzy dynamic programing

In this paper, an adaptive fuzzy optimal course tracking control problem is studied for the unmanned surface vehicle (USV) system with input dead zone. Firstly, input dead zone is split into input-dependent and time-varying bounded functions to treat as system uncertainties. Secondly, when the ship sailing on the sea, the complex marine environment brings a great challenge to ship course control. In order to conquer this challenge, the controller is divided into feedforward controller and optimal feedback controller. The feedforward controller is developed to improve the course tracking performance, and the optimal feedback controller is developed to achieve the optimal control based on adaptive fuzzy dynamic programing (AFDP). Finally, the course tracking performance is guaranteed and all signals in the closed-loop system are uniformly ultimately bounded (UUB) based on Lyapunov theory. Simulation results demonstrate remarkable effectiveness.

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.