具有参数不确定性的非线性水面船舶模型的鲁棒最优控制

IF 3.9 4区 工程技术 Q1 ENGINEERING, MARINE
Brodogradnja Pub Date : 2023-06-01 DOI:10.21278/brod74307
Ahmad Irham Jambak, I. Bayezit
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引用次数: 2

摘要

本文提出了一种快速替代优化方法,用于开发能够处理系统模型参数不确定性的可靠最优控制器。在本研究中,不确定性的来源被确定为流体动力系数,由于涉及到获得准确值的挑战,这些系数容易出现误差。该优化方法利用机动建模集团(MMG)提供的复杂非线性船舶模型作为船舶运动模型的参考。优化过程分为盲搜索和二分优化两个阶段,得到鲁棒最优控制器。为了证明该方法的有效性,系统响应分析和实际测试进行了步进,m -转和双波机动。结果表明,该优化方法所得到的控制器参数对具有不确定参数的系统具有较高的控制成功率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robust optimal control of a nonlinear surface vessel model with parametric uncertainties
This paper presents a fast alternative optimization method for developing a reliable optimal controller that can handle system model parameter uncertainties. The source of uncertainty in this study is identified as hydrodynamic coefficients, which are prone to errors due to the challenges involved in obtaining accurate values. The proposed optimization method utilizes a complex nonlinear ship model provided by Maneuver Modelling Group (MMG) as the reference for the ship motion model. The optimization process is divided into two stages: a blind search followed by bisection optimization, to obtain a robust optimal controller. To demonstrate the effectiveness of the proposed approach, system response analysis and practical tests were performed on Step, M-Turn, and Doublet maneuvers. The results show that the controller parameters obtained from the proposed optimization method are capable of achieving high success rates in controlling a system with uncertain parameters.
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来源期刊
Brodogradnja
Brodogradnja ENGINEERING, MARINE-
CiteScore
4.30
自引率
38.90%
发文量
33
审稿时长
>12 weeks
期刊介绍: The journal is devoted to multidisciplinary researches in the fields of theoretical and experimental naval architecture and oceanology as well as to challenging problems in shipbuilding as well shipping, offshore and related shipbuilding industries worldwide. The aim of the journal is to integrate technical interests in shipbuilding, ocean engineering, sea and ocean shipping, inland navigation and intermodal transportation as well as environmental issues, overall safety, objects for wind, marine and hydrokinetic renewable energy production and sustainable transportation development at seas, oceans and inland waterways in relations to shipbuilding and naval architecture. The journal focuses on hydrodynamics, structures, reliability, materials, construction, design, optimization, production engineering, building and organization of building, project management, repair and maintenance planning, information systems in shipyards, quality assurance as well as outfitting, powering, autonomous marine vehicles, power plants and equipment onboard. Brodogradnja publishes original scientific papers, review papers, preliminary communications and important professional papers relevant in engineering and technology.
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