动力定位非线性自适应反步控制器设计

提出了一种基于VxWorks实时操作系统的船舶动力定位控制器设计,给出了整体框架和软件模块设计。实际工况中,存在模型参数难以精确描述和外界扰动不确定的问题,在控制方法上,设计了一种基于RBF神经网络的自适应反步控制。RBF神经网络对连续函数在紧集范围内具有任意经度的逼近能力,可有效解决船舶水动力高度非线性以及水动力系数难以准确估计的问题。海浪流引起的不确定外界扰动可通过自适应估计补偿。根据Lyapunov稳定性理论证明所设计的控制器是全局渐近稳定的,仿真结果验证了该方法的有效性。

Nonlinear adaptive backstepping controller design of dynamic positioning system

This paper designed a type of dynamic positioning controller based on real-time operating system Vx-Works, and showed the design of general structure and soft module in detail .In actual working condition , the pa-rameters in the model of nonlinear dynamic positioning ship are difficult to be accurately described and the external disturbances are usually uncertain .An adaptive backstepping controller based on RBF neural network is designed . The approximation ability of RBF neural networks for continuous function in compact set is of arbitrary precision , which can effectively solve the problems that the ship hydrodynamic force is highly nonlinear and the hydrodynamic coefficients are difficult to be accurately estimated .The uncertain additional forces caused by the ocean current can be estimated by adaptive compensation .Global asymptotic stability is proved by the Lyapunov stability theory , and the simulation results show that the designed controller is available and valid in ship dynamic positioning .