中国舰船研究2025，Vol.20Issue(1)：278-288,11.DOI:10.19693/j.issn.1673-3185.03888
基于L1-GPR的船舶航向航迹控制方法研究
Ship heading and trajectory control method based on L1-GPR
摘要
Abstract
[Objectives]Intelligent ships at sea are influenced by environmental interference,and the influ-ence of the uncertainty of model parameters leads to the problem of low ship motion control accuracy,so it is necessary to improve the resistance of the ship's control algorithm to such interference.[Methods]Based on an L1 adaptive control algorithm and Gaussian process regression(GPR)model,an L1 adaptive controller combined with a GPR model controller for underactuated ship path tracking control is proposed,and the con-trol law is derived using the Lyapunov control function.The L1 adaptive controller is a new technique that considers both robustness and fast adaptivity.The closed-loop control system has proven to be consistently globally asymptotically stable,while the GPR model is used to model sudden disturbances and environmental disturbances during ship navigation,and achieve the rapid elimination of the effects of such disturbances in combination with the adaptive law.[Results]The simulation results show that adding the GPR model re-duces the average rudder amplitude by 14.9%,average absolute heading error by 23.2%,and maximum abso-lute heading error by 12.1%.The effects of environmental disturbances can be cancelled out faster and a stable state reached more rapidly than in cases without added disturbances.[Conclusions]The proposed L1-GPR adaptive controller can effectively resist various disturbances during navigation.关键词
船舶/运动控制/模型参考自适应控制/高斯过程回归/航向控制/航迹控制Key words
ship/motion control/model reference adaptive control/Gaussian process regression(GPR)/heading control/tracking control分类
交通工程引用本文复制引用
李诗杰,何家伟,刘佳仑,刘泰序,徐诚祺..基于L1-GPR的船舶航向航迹控制方法研究[J].中国舰船研究,2025,20(1):278-288,11.基金项目
国家重点研发计划资助项目(2022YFE0125200) （2022YFE0125200）
国家自然科学基金资助项目(52272425) （52272425）
海洋工程全国重点实验室(上海交通大学)开放基金资助项目(GKZD010089) （上海交通大学）
