Fuzzy self-adaptive output feedback finite time control method and system of intelligent ship autopilot system

Abstract

The invention provides a fuzzy self-adaptive output feedback finite time control method and system for an intelligent ship autopilot system. The invention belongs to the technical field of ship automatic control. The method aims at the intelligent ship autopilot system, a fuzzy state observer and an aided design system are applied; the output feedback control problem of the intelligent ship autopilot system with limited course angle tracking errors is solved, the course angle completes a course tracking control task within limited time, the requirement of a controller for yawing angular speedstate information of the autopilot system is effectively reduced, and the course tracking speed and precision are improved.

Description

Technical field [0001] The invention relates to the technical field of ship automatic control, in particular to a fuzzy adaptive output feedback limited time control method and system of an intelligent ship autopilot system. Background technique [0002] Intelligent ship motion has the characteristics of large time lag, large inertia, and nonlinearity. Changes in speed and loading have caused parameter perturbation of the control model. Changes in navigation conditions, interference of environmental parameters, and inaccuracy of measurement all make intelligent The ship heading control system produced uncertainty. Aiming at the problems caused by these nonlinear uncertain dynamics, intelligent algorithms have been continuously applied in the field of intelligent ship heading control, such as adaptive control, robust control, fuzzy adaptive control, iterative sliding mode control, and minimum parameter learning methods. At present, most ship heading trajectory tracking designs ad...

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 needed in the system is unknown. Most of the current state feedback control methods cannot solve the controller design problem of the unknown yaw rate of the autopilot system, especially the limitation of the heading angle tracking error and the execution of heading tracking. Situations where task time 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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