哈尔滨工程大学学报2017，Vol.38Issue(1)：59-65,7.DOI:10.11990/jheu.201509015
考虑通信时延的船舶航向保持鲁棒自适应控制
Robust adaptive control for ship course-keeping by considering communication delay
摘要
Abstract
To study remote control for ship course-keeping, a new robust adaptive neural network algorithm was de-veloped to solve the adverse effects of network-induced delay on system stability and performances. Unlike in the traditional backstepping method, the proposed scheme longitudinally transfers the uncertain part in different orders of subsystems of the system to the n subsystem. In addition, the neural network of radial basis function was em-ployed to carry out online approximation to effectively compensate for the uncertain model part in the system and solve the problem of uncertain time delay in the remote control system. In the simulation test, the time delay char-acteristics were obtained by analyzing an actual test of a maritime satellite communication network, and the YUKUN ship was selected as the plant. Results verify the effectiveness of the algorithm. In addition, the algorithm has good robustness against model perturbation and external disturbance. The algorithm has the advantages of a small amount of calculation, good robustness, and easy engineering application.关键词
船舶/航向保持/Backstepping/鲁棒自适应控制/网络控制系统/卫星通信时延Key words
ship/course-keeping/backstepping/robust adaptive control/networked control system/satellite com-munication delay分类
交通工程引用本文复制引用
徐国平,张显库,张国庆..考虑通信时延的船舶航向保持鲁棒自适应控制[J].哈尔滨工程大学学报,2017,38(1):59-65,7.基金项目
国家自然科学基金项目（51679024）；中国博后创新人才支持计划（ BX201600103）；中央高校基本科研业务费专项资金（3132016315，3132016001）． （）
