文献类型：期刊文献

英文题名：Optimal Robust Control of Path Following and Rudder Roll Reduction for a Container Ship in Heavy Waves

作者：Wang, Sisi[1];Wang, Lijun[1];Qiao, Zixuan[1];Li, Fengshan[1]

机构：[1]Guangdong Ocean Univ, Sch Nav, Zhanjiang 524088, Peoples R China

年份：2018

卷号：8

期号：9

外文期刊名：APPLIED SCIENCES-BASEL

收录：SCI-EXPANDED(收录号：WOS:000445760200220)、、Scopus(收录号：2-s2.0-85053393087)、WOS

基金：This work was supported by Natural Science Foundation of Guangdong province (Grant 2015A030310131); Scientific Research Start-up Funds of Guangdong Ocean University (Grants E15031 and R17012); Characteristic Innovation Projects of Guangdong province (Grants 2017KTSCX088 and 2017KTSCX092); and College Student Innovation and Entrepreneurship Training Program of Guangdong province (Grant 530002001095).

语种：英文

外文关键词：path following; rudder roll reduction; Backstepping; Lyapunov synthesis; multi-objective optimization

外文摘要：This paper presents an optimal approach to the multi-objective synthesis of path following and rudder roll reduction for a container ship in heavy waves. An improved line of sight principle with course-keeping in track-belt is proposed to guide the ship in accordance with marine practice. Concise robust controllers for the course and roll motion based on Backstepping and closed-loop gain shaping are developed. The control parameters have obvious physical significance. The determination method is given and much effort is made to guarantee the uniform asymptotic stability of the closed-loop systems by Lyapunov synthesis. Furthermore, the multi-objective optimization method a fast and elitist multi-objective genetic algorithm (NSGA-II) is used to solve the restrictions caused by the model perturbation, external disturbance and performance trade-off. Contrasting with the existing literature, the research strategy and control performance are more in line with marine engineering practice. Simulation results illustrate the performances and effectiveness of the proposed system.