建模参数不确定的欠驱动船舶路径跟踪控制

摘要

Aiming at the uncertainties in the path-following control of underactuated ships,a nonlinear dynamic neural fuzzy con-trol algorithm is presented.The algorithm adjusts the structure and parameters simultaneously,and makes sure the exact tracking of geometrical path as well as conquering the uncertainties caused by the changing modeling parameters.Simulation results vali-date the effectiveness of the proposed algorithm.%针对欠驱动船舶路径跟踪控制中,建模参数时变引起的不确定性问题,提出一种非线性动态神经模糊控制算法.该算法在控制过程中同时调整控制器结构和参数,能确保船舶几何位置的准确跟踪并克服不确定性的影响.仿真结果验证了算法的有效性.