Fuzzy adaptive output feedback control method and system of intelligent ship autopilot system

Abstract

The invention provides a fuzzy adaptive output feedback control method and system of an intelligent ship autopilot system. The invention belongs to the technical field of ship automatic control. According to the method, a fuzzy state observer and an aided design system are applied to the intelligent ship autopilot system, the output feedback control problem of the intelligent ship autopilot systemwith limited course angle tracking errors is solved, the requirement of a controller for yawing angular speed state information of the autopilot system is effectively reduced, and the course trackingspeed and precision are improved.

Description

technical field [0001] The invention relates to the technical field of ship automatic control, in particular to a fuzzy self-adaptive output feedback control method and system of an intelligent ship autopilot system. Background technique [0002] The movement of intelligent ships has the characteristics of large time lag, large inertia, and nonlinearity. Changes in speed and loading produce parameter perturbations in the control model. Uncertainty is created by the ship's heading control system. In response to the problems caused by these nonlinear uncertain dynamics, intelligent algorithms are continuously applied to the field of intelligent ship heading control, such as adaptive control, robust control, fuzzy adaptive control, iterative sliding mode control, and least parameter learning methods. At present, most ship heading trajectory tracking designs adopt the state feedback control method, which assumes that all state information of the ship heading system is known. H...

AI Technical Summary

Problems solved by technology

However, in practical engineering applications, there are inevitable noise problems in the measuring instruments of the ship heading system, which makes it difficult to measure all the information of the autopilot system, and increases the performance requirements and burden of the measuring instruments. In most cases, the automatic rudder heading control The yaw rate information required in the system is unknown, and most of the existing state feedback control methods cannot solve the controller design problem of the unknown yaw rate of the autopilot system, especially when the heading angle tracking error is limited

Therefore, in the existing achievements of intelligent ship heading control, less consideration is given to the compromise between control performance and control cost, and the high cost of use is not conducive to engineering realization.

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