船舶航向非线性H∞逆优化输出反馈控制

Nonlinear H-infinity inverse optimal output feedback control for ship course

中文关键词  船舶航向控制  非线性H∞优化控制  逆优化  无源状态观测器

英文关键词  ship course control  nonlinear H-infinity optimal control  inverse optimal  passive state observer

中文摘要

      为抑制船舶航向非线性优化控制中模型参数摄动和由状态观测器引入的不确定观测误差, 提出了一种非 线性H∞逆优化控制算法.首先, 基于无源理论设计观测器以实现海浪滤波, 该观测器无需海浪扰动的方差信息从而 减少了观测器参数数量. 然后, 考虑模型参数摄动对观测误差的影响, 给出了描述系统局部(全局)性态的局部(全 局)H∞优化性能指标. 在以广义黎卡提方程(GARE)对局部优化问题的求解的基础上, 应用逆优化方法将全局H1优 化问题转化为构造闭环系统的Lyapunov函数问题, 得到同时满足两种指标的优化控制器, 并证明了稳定性. 仿真结 果证明了该算法的有效性.

英文摘要

      To attenuate the perturbation of the model parameters and the uncertain observer error introduced by the state observer in the nonlinear optimal control of ship course, we propose a nonlinear inverse H-infinity optimal control algorithm. To achieve the objective of wave filtering, we design the observer based on the passive theory, in which the variance of the wave disturbance is not required, thus reducing the number of parameters. Considering the effect of model parameter perturbation to the observer error, we develop a local (global) H-infinity optimal performance index. Because the local optimization is based on solving the generalized algebra Riccati equation (GARE), the global optimization is transformed to finding the Lyapunov function of the close-loop system by inverse optimal method. Thus, the optimal controller satisfying the two performance indexes is obtained, and the stability is proved. The simulation results show the effectiveness of the proposed algorithm.