哈尔滨工程大学学报2017，Vol.38Issue(11)：1727-1732,6.DOI:10.11990/jheu.201607019
风帆助航船舶自启发评价迭代滑模航向控制
Iterative sliding mode control over sail-assisted ship course based on adaptive heuristic critic algorithm
摘要
Abstract
In this study , an adaptive heuristic critic algorithm based fuzzy nonlinear iterative sliding mode controller is presented for a time-varying nonlinear sail-assisted ship motion model influenced by marine environmental dis-turbance .The designed controller uses a hyperbolic tangent function to construct the sliding mode function of the system station .The control output is calculated through sliding surface feedback , which assists the system in avoi-ding the estimationof unknown parameters and external disturbances .To improve the controller's adaptive property , the sliding mode parameters are optimized via the constructed fuzzy system .Defining a chattering variable of the control rudder and an adaptive heuristic critic function to adjust and optimize the constructed fuzzy system 's struc-ture parameters on-line achieves a good performance in reducing the output rudder chattering .Finally, numerical simulations are conducted on the large ocean-going bulk carrier "Wen Zhuhai", and simulation results show that the controller achieves good performance and is robust against perturbation from model parameters and marine envi -ronmental disturbances .关键词
风帆助航船/航向控制/自适应启发评价/模糊系统/迭代滑模/控制器设计/舵角/抖振/鲁棒性Key words
sail-assisted ship/course control/adaptive heuristic critic/fuzzy system/iterative sliding mode/con-troller design/rudder angle/chattering/robustness分类
信息技术与安全科学引用本文复制引用
沈智鹏,张晓玲..风帆助航船舶自启发评价迭代滑模航向控制[J].哈尔滨工程大学学报,2017,38(11):1727-1732,6.基金项目
国家自然科学基金项目(61374114,51579024) （61374114,51579024）
辽宁省自然科学基金项目(201602072) （201602072）
中央高校基本科研业务费项目(3132016311,3132017126). （3132016311,3132017126）
