Lyapunov基于 稳定性的船舶航向保持控制器非线性反馈改进

马超，张显库，杨光平

116026大连海事大学 航海动态仿真与控制实验室，辽宁 大连

摘 要：［目的］船舶航向保持是船舶自动导航的核心，其实现离不开非线性控制算法的设计。为了简化控制Lyapunov器的设计过程，提高系统鲁棒性，节省控制器的能量输出，提出一种基于 函数改进的具有非线性反馈Lyapunov函数，简化控制器设计过程，避免非线性控制律对消系统的非线性的控制器。［方法］首先，通过构建项；然后，用指数函数处理后的航向误差代替航向误差本身的非线性反馈项，优化控制系统设计，减少能耗；最后，以实际船舶“育鹏”轮为例进行系统仿真。［结果］结果显示，采用上述方法设计的控制器控制效果良好，更加节能，且系统具有鲁棒性。［结论］研究表明，非线性反馈项的引入可以优化控制系统，其能节能的优点在实际工程应用中具有重要意义。关键词：船舶航向保持；Lyapunov稳定性；非线性反馈中图分类号：U664.82 文献标志码：A DOI：10.19693/j.issn.1673-3185.01111 Improved nonlinear control for ship course-keeping based on Lyapunov stability Ma Chao，Zhang Xianku，Yang Guangping Key Laboratory of Marine Simulation and Control，Dalian Maritime University，Dalian 116026，China Abstracts：［Objectives］ Course-keeping for ships is the core of automatic navigation in marine transportation，and it cannot be achieved without the design of the nonlinear controller. In order to simplify the design process，improve the robustness of the system and save the energy output of the controller，this paper proposes a nonlinear feedback controller based on the Lyapunov function. ［Methods］ By constructing a simplified Lyapunov function，the design process of the nonlinear controller is shortened and the cancellation of the nonlinear term of the control law avoided. The design of the control system can be optimized by replacing the course error with a nonlinear function of itself in the feedback loop. This optimization reduces energy consumption and improves the robustness of the system.［Results］Taking the ship 'Yu Peng' as an example，the simulation results show that the improved nonlinear control algorithm possesses good performance and robustness，and reduces energy consumption.［Conclusions］The results of this paper show that the introduction of a nonlinear feedback term can optimize the control system，and the energy saving advantages of such a measure are of great significance for practical engineering application. Key words：course-keeping for ships；Lyapunov stability；nonlinear feedback

扫码阅读全文