本文選題：動力定位　切入點：無源濾波　出處：《大連理工大學(xué)學(xué)報》2017年01期

【摘要】：針對動力定位船舶定點定位過程中的高低頻運動特性,設(shè)計了一種基于無源濾波的反步逆最優(yōu)控制器.首先建立船舶的非線性方程,再利用線性化方程對應(yīng)的Riccati方程對船舶非線性方程進(jìn)行反步變換,最后基于Lyapunov函數(shù)設(shè)計了未建模擾動環(huán)境力自適應(yīng)律和漸進(jìn)穩(wěn)定的控制律,同時滿足了局部性能指標(biāo)和全局性能指標(biāo).該方法從一個新的角度解決定點定位過程中船舶非線性系統(tǒng)最優(yōu)控制的問題,避免了傳統(tǒng)H∞魯棒控制需要求解Hamilton-Jacobi-Isaacs(HJI)方程的問題,保證了整個濾波和控制系統(tǒng)的穩(wěn)定性.同時還研究了誤差和控制權(quán)矩陣Q和R對系統(tǒng)性能的影響,確保了船舶低速定位過程中的能耗最優(yōu).動力定位船舶定點定位的仿真結(jié)果驗證了該方法的有效性.
[Abstract]:According to the characteristics of high and low frequency motion in the process of dynamic ship fixed point positioning, a reverse step inverse optimal controller based on passive filtering is designed. Firstly, the nonlinear equation of ship is established. Finally, the adaptive law of unmodeled disturbance environment force and the control law of asymptotic stability are designed based on the Lyapunov function, using the Riccati equation corresponding to the linearization equation to carry on the inverse step transformation to the ship nonlinear equation. This method solves the problem of optimal control of ship nonlinear system in the process of fixed-point positioning from a new point of view, and avoids the problem that traditional H 鈭，

本文編號：1662105