动态定位器的事件触发的神经适应预定义的实用有限时间控制:基于时间的发电机方法
Guibing Zhu1,2, Yong Ma3,4,2,5, Xinping Yan3,6
1The School of Maritime, Zhejiang Ocean University, Zhoushan 316022, China.
Fundamental research
|December 11, 2024
概括
本研究介绍了动态定位 (DP) 容器的事件触发的神经适应控制,尽管存在不确定性,但确保了有限时间的融合和准确性. 该方法通过优化操作频率来减少执行器磨损.
科学领域:
- 海洋工程 海洋工程
- 控制系统理论 控制系统理论
- 机器人技术 机器人技术 机器人技术
背景情况:
- 动态定位 (DP) 系统对于海上船舶至关重要,它们面临来自内部和外部不确定性的挑战.
- 现有的控制方法可能会在精确的有限时间融合和计算效率方面扎.
研究的目的:
- 为DP船只开发一种新的预定义的实用有限时间 (PPFT) 动态定位控制方案.
- 通过事件触发方法来解决系统不确定性并减少执行器磨损.
主要方法:
- 使用动态表面控制框架与基于时间的发电机 (TBG) 相结合.
- 实现一级过器和虚拟参数学习来管理虚拟导出和计算负载.
- 引入事件触发协议以尽量减少执行器工作频率和机械磨损.
主要成果:
- 拟议的事件触发的神经适应PPFT控制方案确保了稳定性,由Lyapunov定理验证.
- 实现了离线的趋同时间和控制精度的确定.
- 数字示例证实了拟议的控制方法的效率.
结论:
- 开发的控制策略有效地处理DP船只的不确定性.
- 事件触发机制成功地减少了执行器磨损,同时保持了性能.
- PPFT控制器为DP应用提供了精确和及时的定位.
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