| 基于PSO的船舶动力定位自适应反步控制器 |
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| 引用本文： | 谢业海.基于PSO的船舶动力定位自适应反步控制器[J].船舶工程,2014,36(4):65-68. |
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| 作者姓名： | 谢业海 |
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| 作者单位： | 昆明船舶设备研究试验中心 |
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| 摘 要： | 在船舶动力定位实际的作业过程中,由于海洋环境是缓慢变化的,建立的对象模型总存在一定的不确定性。针对上述问题,本文提出利用自适应反步控制器对船舶进行控制,并利用粒子群算法对控制器参数进行寻优,最后通过计算机仿真对本文方法进行了验证,仿真结果表明该方法有效。
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| 关 键 词： | 动力定位 自适应 反步法 粒子群 |
| 收稿时间： | 2013/11/17 0:00:00 |
| 修稿时间： | 2014/1/20 0:00:00 |
Adaptive backstepping controller for dynamic positioning ship based on PSO |
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| XIE Yehai.Adaptive backstepping controller for dynamic positioning ship based on PSO[J].Ship Engineering,2014,36(4):65-68. |
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| Authors: | XIE Yehai |
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| Institution: | Kunming Shipborne Equipment Research and Test Center |
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| Abstract: | In order to deal with the model uncertainties of Dynamic Positioning (DP) System caused by slowly-varying environmental disturbances, an adaptive backstepping controller is applied to control the vessel. The control gain is tuned using the particle swarm optimization (PSO). Finally, the method is verified effective by the computer simulation . |
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| Keywords: | Dynamic positioning Adaptive Backsteeping Particle swarm optimization |
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