Volume 37, Number 5, October 2019
|Page(s)||1018 - 1027|
|Published online||14 January 2020|
Unmanned Surface Vessel Steering L2 Gain Robust Control Based on Closed-Loop Shaping Filter
Navigation College, Dalian Maritime University, Dalian 116026, China
2 State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116023, China
With the introduction of the closed-loop shaping filtering method into the L2 gain robust controller design strategy, a nonlinear robust steering controller for unmanned surface vessel is designed under the planning and control strategy in this paper. The rigorous mathematical analysis and synthesis characteristics of the L2 gain robust control theory and the Lyapunov design method are fully utilized in the controller design process. Furthermore, the concept of the closed-loop shaping filtering based on the classical closed-loop control theory is taken into the controller design strategy. Therefore, the time domain controller design methods integration with the frequency domain controller design strategy are merged togehter to complete the unmanned surface vessel steering controller design in the view of practical engineering and planning and control strategy. Finally, compared with several practical controller design methods in the multi-direction irregular waves, the simulation results show that the proposed steering controller design strategy has concise structure, distinctive physic meanings of the controller parameters and superior comprehensive control performance.
Key words: unmanned surface vessel / planning and control / ship steering control / closed-loop shaping filter / L2 gain control / controller design
关键字 : 无人船 / 规划控制策略 / 航向控制 / 闭环成形滤波 / L2增益控制 / 控制器设计
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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