大型船舶航迹多变量随机最优控制

基于随机控制理论，研究了大型船舶航迹的随机最优控制。以Mariner号船舶为研究对象，建立了该船的运动方程和干扰模型，在此基础上，利用卡尔曼滤波器对航向角Ψ、舵角δ、船位信息(经纬度)等进行最优估计，采用LQG随机控制方法对航迹进行随机最优控制。仿真结果表明航迹控制性能良好，能精确保持航迹。

Multi-variable Stochastic Optimal Control of Large-scale Ship's Track

Based on the stochastic theory,stochastic optimal control of large-scale ship's track is studied.The ship Mariner is taken as a study object,its motion equation and interference model is established.On the basis of this,heading angle,rudder angle and information of the ship's position(longitude and latitude)are optimally estimated by means of Kalman filter.The stochastic control method of LQG is applied to conduct stochastic optimal track control.Simulation results indicate that the track control performance is good and this method can give an accurate track.