欠驱动水面船舶非线性信息融合航迹跟踪控制

摘要

Regarding the trajectory tracking control problem of an underactuated surface vessel, a nonlinear informa-tion fusion control algorithm was proposed in this paper. The continuous model of the ship was transformed into non-linear discrete state equations. The information fusion estimation theorem was used to fuse the soft constraints informa-tion, which includes the expectation trajectory and the control energy in the quadratic performance index function, and the hard constraints information supplied by the system state equation and the output equation. Then, the optimal estimations of the controlled variable were obtained. Different from the traditional optimal control method, the infor-mation fusion control algorithm avoids solving the nonlinear Riccati equation. The simulation results indicate that this algorithm has a good control effect and has a certain robust performance for external environmental disturbances.%针对欠驱动水面船舶的航迹跟踪控制问题，提出了一种非线性信息融合控制算法。将连续的船舶模型转化为非线性离散状态方程，利用信息融合估计定理融合软约束信息、硬约束信息，具体为二次型性能指标函数中包含的期望航迹和控制能量的软约束信息，以及船舶状态方程和输出方程的硬约束信息，获得控制量的最优估计。与传统的最优控制方法不同，信息融合控制方法无需求解非线性黎卡提方程。仿真结果表明该算法具有良好控制效果，且对外界环境干扰具有一定的鲁棒性能。