哈尔滨工程大学学报2024，Vol.45Issue(7)：1376-1383,8.DOI:10.11990/jheu.202203045
动力定位船舶鲁棒自适应异步自触发控制
Robust adaptive asynchronous self-triggered control of dynamic positioning ships
摘要
Abstract
This paper presents an asynchronous self-triggered control strategy to address the challenges of communi-cation bandwidth limitations and actuator gain uncertainty in dynamic positioning ships.We introduce a novel self-triggered mechanism that overcomes the need for continuous monitoring required by conventional event-triggered methods.This mechanism calculates the next triggered instant merely depending on the current information.For a dynamic positioning ship equipped with multiple actuators,our self-triggering mechanism allows each actuator to operate independently and without interaction.This means that control signals are transmitted in an asynchronous self-triggered transmission mode in each controller-actuator communication channel.Furthermore,we have devel-oped an adaptive parameter for each actuator to estimate and compensate for its gain uncertainty through the control-ler online.The above control strategies have been verified by simulation experiments.The simulation results show that our proposed algorithm achieves high positioning accuracy and stable performance while also reducing the fre-quency of control signal transmissions to a great extent.Compared with a contrastive algorithm,our method a-chieves a 100-fold reduction in transmission times,thereby considerably lowering the low communication load.This makes it well-suited to engineering requirements.关键词
动力定位/自触发控制/增益不确定/自适应控制/鲁棒控制/神经网络/反步法/非线性控制Key words
dynamic positioning/self-triggered control/gain uncertainty/adaptive control/robust control/neural network/backstepping/nonlinear control分类
信息技术与安全科学引用本文复制引用
姚明启,张国庆,宋纯羽,张显库..动力定位船舶鲁棒自适应异步自触发控制[J].哈尔滨工程大学学报,2024,45(7):1376-1383,8.基金项目
国家自然科学基金项目(52171291) （52171291）
辽宁省应用基础研究计划项目(2023JH2/101600039),辽宁省"兴辽英才计划"青年拔尖人才(XLYC2203129) （2023JH2/101600039）
大连市杰出青年科技人才项目(2022RJ07) （2022RJ07）
大连市重点领域创新团队支持计划(2020RT08) （2020RT08）
中央高校基本科研业务费专项资金项目(3132023137,3132023502). （3132023137,3132023502）
