CAJ | 학술논문

针对动力定位船舶的循迹任务，提出了一种基于逆最优思想的自适应反步控制器，并对误差系统的稳定性进行了分析。首先对无干扰的动力定位船舶线性化模型设计最优跟踪控制器，利用时变Riccati方程进行反步状态变换得到误差系统，再基于 Lyapunov 函数对定常干扰设计自适应律和使系统渐近稳定的控制律，最后给出此控制律作用下的最优性能指标。该方法不用论证带有H∞范数的广义Riccati代数方程可解性，避免了传统非线性 H∞鲁棒控制需要求解 Hanmilton-Jacobi-Issacs(HJI)方程的问题。动力定位船舶的循迹控制仿真研究验证了算法的有效性。
침대동력정위선박적순적임무，제출료일충기우역최우사상적자괄응반보공제기，병대오차계통적은정성진행료분석。수선대무간우적동력정위선박선성화모형설계최우근종공제기，이용시변Riccati방정진행반보상태변환득도오차계통，재기우 Lyapunov 함수대정상간우설계자괄응률화사계통점근은정적공제률，최후급출차공제률작용하적최우성능지표。해방법불용론증대유H∞범수적엄의Riccati대수방정가해성，피면료전통비선성 H∞로봉공제수요구해 Hanmilton-Jacobi-Issacs(HJI)방정적문제。동력정위선박적순적공제방진연구험증료산법적유효성。
For the tracking task of dynamic positioning vessel, an adaptive backstepping control method based on inverse optimal idea is proposed; stability of error system is analyzed. First an optimal path following controller is designed for the linearized system of dynamic positioning ship without disturbance. The error system is obtained through backstepping transformation procedure using time varying Riccati equation. Adaptive law for estimating steady disturbance and control law which can make the system stable asymptotically is designed based on Lyapunov function. Finally optimal performance index is given under the given control law. It is not necessary to prove the existence of solution for generalized algebraic Riccati Equation with H∞norm, while solving Hanmilton-Jacobi-Issacs equation in traditional nonlinear H∞controller design is also avoided. By means of tracking control simulation for dynamically positioned vessels the effectiveness of the algorithm is verified.