舰船科学技术
艦船科學技術
함선과학기술
SHIP SCIENCE AND TECHNOLOGY
2015年
4期
128-131
,共4页
欠驱动水面船舶%船迹控制%神经网络
欠驅動水麵船舶%船跡控製%神經網絡
흠구동수면선박%선적공제%신경망락
underactuated surface ships%tracking control%neural network
以欠驱动船舶船迹控制应用为背景，提出一种在外界干扰和参数扰动条件下的船舶镇定滑模控制算法。为有效抑制常规滑模控制器的抖振，提高在受到外部环境干扰和参数摄动时的鲁棒性，提出基于BP神经网络的非线性自抗扰滑模控制算法。仿真结果表明，该方法能够有效应对风流干扰，具有很好的鲁棒性。
以欠驅動船舶船跡控製應用為揹景，提齣一種在外界榦擾和參數擾動條件下的船舶鎮定滑模控製算法。為有效抑製常規滑模控製器的抖振，提高在受到外部環境榦擾和參數攝動時的魯棒性，提齣基于BP神經網絡的非線性自抗擾滑模控製算法。倣真結果錶明，該方法能夠有效應對風流榦擾，具有很好的魯棒性。
이흠구동선박선적공제응용위배경，제출일충재외계간우화삼수우동조건하적선박진정활모공제산법。위유효억제상규활모공제기적두진，제고재수도외부배경간우화삼수섭동시적로봉성，제출기우BP신경망락적비선성자항우활모공제산법。방진결과표명，해방법능구유효응대풍류간우，구유흔호적로봉성。
In the applications background of the underactuated ship motion control, a neural sliding mode control algorithm under the condition of external disturbance and parameter perturbation was proposed. In order to keep the given track and avoid the chattering phenomenon occurring in traditiond sliding mode control and control well under the external disturbance and parameter perturbation, a method based on BP nerual network is presented based on the BP neural network and nonlinear self immunity sliding mode control algorithme was proposed. The simulation results show that the method can effectively deal with wind disturbance,have good robustness.
