中国舰船研究2025，Vol.20Issue(1)：232-246,15.DOI:10.19693/j.issn.1673-3185.03542
数据驱动的船舶航迹跟踪控制方法研究
Data-driven ship trajectory tracking control method
摘要
Abstract
[Objective]Aiming at the problems of unknown ship model parameters and external disturbance and servo constraints,this paper proposes a method for the data-driven online identification of ship parameters and iterative analytical calculation of the optimal control quantity of track tracking control.[Method]A three degrees of freedom dynamics equation of a double propeller ship is constructed,and the extended state observer-multiple innovation recursive least squares interactive algorithm is designed by collecting the motion data of the ship.By approximating the identified ship motion model to a time-invariant linear model in the sampling period,the ship trajectory tracking problem can be transformed into a linear quadratic optimization control problem with constraints and disturbances.The weighted matrix and penalty function are introduced to construct the quadratic performance index including trajectory error,external disturbance,and control con-straint inequality.The precise integration method is then used to obtain the analytical solution of the matrix Riccati differential equation and the iterative calculation formula of the finite time state regulator.[Results]Th online identification of the ship motion model parameters and estimation of unknown disturb-ances are achieved,and a trajectory tracking control algorithm with"no need to worry after startup"is de-signed,reducing the strict requirements of parameter identification and control algorithms for experimental design.[Conclusion]Using MATLAB to carry out numerical simulation and analyze the influence of weight matrix Q,R and S on trajectory tracking accuracy,the results verify the effectiveness of the parameter identification and control algorithm.关键词
无人艇/操纵性/运动控制/数据驱动/扩张状态观测器/精细积分法/线性二次型状态调节器Key words
unmanned vehicles/maneuverability/motion control/data driven/extended state observer/precise integration method/linear quadratic form state regulator分类
交通运输引用本文复制引用
熊勇,周思文,王显飞,吕志远..数据驱动的船舶航迹跟踪控制方法研究[J].中国舰船研究,2025,20(1):232-246,15.基金项目
国家自然科学基金资助项目(52271367) （52271367）
2023研究生公共实验课程建设项目(20230412) （20230412）
