CN103592846B - 基于自适应模糊估计器的滤波反步船舶运动控制系统 - Google Patents
基于自适应模糊估计器的滤波反步船舶运动控制系统 Download PDFInfo
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- CN103592846B CN103592846B CN201310551643.0A CN201310551643A CN103592846B CN 103592846 B CN103592846 B CN 103592846B CN 201310551643 A CN201310551643 A CN 201310551643A CN 103592846 B CN103592846 B CN 103592846B
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- 238000001914 filtration Methods 0.000 title claims abstract description 47
- 230000004927 fusion Effects 0.000 claims abstract description 8
- 230000003044 adaptive effect Effects 0.000 claims description 36
- 238000000034 method Methods 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 description 9
- 238000013461 design Methods 0.000 description 8
- 238000011160 research Methods 0.000 description 5
- 238000012938 design process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN201310551643.0A CN103592846B (zh) | 2013-11-07 | 2013-11-07 | 基于自适应模糊估计器的滤波反步船舶运动控制系统 |
PCT/CN2014/000899 WO2015066964A1 (zh) | 2013-11-07 | 2014-10-13 | 基于自适应模糊估计器的滤波反歩船舶运动控制系统 |
KR1020167011140A KR20160081906A (ko) | 2013-11-07 | 2014-10-13 | 적응 퍼지 추정기 기반의 필터링 백스테핑 선박 운동 제어 시스템 |
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CN201310551643.0A CN103592846B (zh) | 2013-11-07 | 2013-11-07 | 基于自适应模糊估计器的滤波反步船舶运动控制系统 |
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CN103592846A CN103592846A (zh) | 2014-02-19 |
CN103592846B true CN103592846B (zh) | 2014-12-17 |
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CN201310551643.0A Active CN103592846B (zh) | 2013-11-07 | 2013-11-07 | 基于自适应模糊估计器的滤波反步船舶运动控制系统 |
Country Status (3)
Country | Link |
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KR (1) | KR20160081906A (zh) |
CN (1) | CN103592846B (zh) |
WO (1) | WO2015066964A1 (zh) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103592846B (zh) * | 2013-11-07 | 2014-12-17 | 哈尔滨工程大学 | 基于自适应模糊估计器的滤波反步船舶运动控制系统 |
CN104076821B (zh) * | 2014-06-19 | 2017-01-04 | 哈尔滨工程大学 | 基于模糊自适应观测器的欠驱动水面艇轨迹跟踪控制系统 |
CN105629721B (zh) * | 2016-02-01 | 2019-01-29 | 金陵科技学院 | 基于指令滤波Backstepping二阶非线性系统无模型控制方法 |
CN106338919B (zh) * | 2016-11-02 | 2019-04-19 | 哈尔滨工程大学 | 基于增强学习型智能算法的无人艇航迹跟踪控制方法 |
CN106773741A (zh) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | 一种无人船动力定位系统及方法 |
EP3638582A1 (en) * | 2017-06-13 | 2020-04-22 | CPAC Systems AB | Method for determining a speed profile for a marine vessel |
CN110647041B (zh) * | 2019-10-11 | 2022-03-04 | 大连海事大学 | 一种无人船模型全系数精确辨识方法 |
CN110647154B (zh) * | 2019-10-29 | 2022-04-01 | 大连海事大学 | 基于模糊状态观测器的智能船舶自动舵系统航向轨迹跟踪设计方法 |
CN111221335A (zh) * | 2020-01-17 | 2020-06-02 | 大连海事大学 | 一种智能船舶自动舵系统的模糊自适应输出反馈有限时间控制方法及系统 |
CN111290387B (zh) * | 2020-02-21 | 2022-06-03 | 大连海事大学 | 一种智能船舶自动舵系统的模糊自适应输出反馈指定性能控制方法及系统 |
CN113093734B (zh) * | 2021-03-17 | 2023-11-03 | 大连海事大学 | 一种输入受限的无人船航向共融控制方法、系统及装置 |
CN113900434A (zh) * | 2021-08-02 | 2022-01-07 | 中国石油大学(华东) | 一种考虑船间效应的平台拆解船对接控制方法 |
CN113608534B (zh) * | 2021-08-04 | 2023-10-24 | 上海大学 | 一种无人艇跟踪控制方法及系统 |
Citations (2)
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EP2169422A1 (en) * | 2008-09-24 | 2010-03-31 | Whitehead Alenia Sistemi Subacquei S.p.A. | System and method for acoustic tracking an underwater vehicle trajectory |
CN102298326A (zh) * | 2011-06-30 | 2011-12-28 | 哈尔滨工程大学 | 欠驱动auv自适应轨迹跟踪控制装置及控制方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6904422B2 (en) * | 2000-05-27 | 2005-06-07 | Georgia Tech Research Corporation | Adaptive control system having direct output feedback and related apparatuses and methods |
CN103217902B (zh) * | 2013-03-14 | 2016-05-25 | 北京航空航天大学 | 一种基于干扰观测器的指令滤波反步控制方法 |
CN103324195B (zh) * | 2013-06-14 | 2015-04-08 | 哈尔滨工程大学 | 基于反步法的船舶自适应鲁棒航向跟踪控制方法 |
CN103592846B (zh) * | 2013-11-07 | 2014-12-17 | 哈尔滨工程大学 | 基于自适应模糊估计器的滤波反步船舶运动控制系统 |
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2013
- 2013-11-07 CN CN201310551643.0A patent/CN103592846B/zh active Active
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2014
- 2014-10-13 KR KR1020167011140A patent/KR20160081906A/ko not_active Application Discontinuation
- 2014-10-13 WO PCT/CN2014/000899 patent/WO2015066964A1/zh active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2169422A1 (en) * | 2008-09-24 | 2010-03-31 | Whitehead Alenia Sistemi Subacquei S.p.A. | System and method for acoustic tracking an underwater vehicle trajectory |
CN102298326A (zh) * | 2011-06-30 | 2011-12-28 | 哈尔滨工程大学 | 欠驱动auv自适应轨迹跟踪控制装置及控制方法 |
Non-Patent Citations (2)
Title |
---|
喷水推进型无人艇航向跟踪的反步自适应滑模控制;廖煜雷,庞永杰,庄佳园;《计算机应用研究》;20120131;第29卷(第1期);第82-84,100页 * |
船舶航向控制系统的反步滑模设计;吴限,高双,朱齐丹,徐光,俞健;《控制工程》;20090531;第16卷;第51-55,79页 * |
Also Published As
Publication number | Publication date |
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CN103592846A (zh) | 2014-02-19 |
WO2015066964A1 (zh) | 2015-05-14 |
KR20160081906A (ko) | 2016-07-08 |
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Effective date of registration: 20170217 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee after: Bian Xinqian Patentee after: Yan Zheping Patentee after: Xia Guoqing Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: Harbin Engineering Univ. |
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Effective date of registration: 20190515 Address after: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee after: Xia Guoqing Patentee after: Yan Zheping Co-patentee after: Zhang Honghan Co-patentee after: Chen Tao Co-patentee after: Zhou Jiajia Co-patentee after: Liu Xiangbo Co-patentee after: Liu Jianxu Co-patentee after: Wang Yuanhui Co-patentee after: Chen Xinghua Co-patentee after: Wang Chenglong Co-patentee after: Bian Qin Co-patentee after: Tang Zhaodong Co-patentee after: Wang Hongjian Co-patentee after: Xia Guoqing Wang Hongjian Ding Fuguang Fu Ming Yulin Xiaogong Xu Jian Zhangwei Li Juan Zhangxun Zhang Honghan Chen Tao Zhou Jiaga Liu Xiangbo Liu Jiaxu Wang Yuan Hui Chen Xinghua Wang Chenglong Benqin Tangzhao East Harbin Engineering University Science Park Development Co., Ltd. Co-patentee after: Ding Fuguang Co-patentee after: Fu Mingyu Co-patentee after: Lin Xiaogong Co-patentee after: Xu Jian Co-patentee after: Zhang Wei Co-patentee after: Li Juan Co-patentee after: Zhang Xun Address before: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee before: Yan Zheping Patentee before: Bian Qin Co-patentee before: Xia Guoqing Co-patentee before: Harbin Engineering University Science Park Development Co., Ltd. |
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Effective date of registration: 20190823 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee after: Harbin Shipboard Intelligent Technology Partnership (Limited Partnership) Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Xia Guoqing Patentee before: Yan Zheping Co-patentee before: Zhang Honghan Co-patentee before: Chen Tao Co-patentee before: Zhou Jiajia Co-patentee before: Liu Xiangbo Co-patentee before: Liu Jianxu Co-patentee before: Wang Yuanhui Co-patentee before: Chen Xinghua Co-patentee before: Wang Chenglong Co-patentee before: Bian Qin Co-patentee before: Tang Zhaodong Co-patentee before: Wang Hongjian Co-patentee before: Harbin Engineering University Science Park Development Co., Ltd. Co-patentee before: Ding Fuguang Co-patentee before: Fu Mingyu Co-patentee before: Lin Xiaogong Co-patentee before: Xu Jian Co-patentee before: Zhang Wei Co-patentee before: Li Juan Co-patentee before: Zhang Xun |
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Effective date of registration: 20190925 Address after: Room 801, 1st floor, 8th building, Science and Technology Innovation Industrial Park, Songbei District, Harbin City, Heilongjiang Province, No. 3043, Zhigu Second Street, Songbei District, Shenzhen Patentee after: Harbin ship Intelligent Equipment Technology Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Harbin Shipboard Intelligent Technology Partnership (Limited Partnership) Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University |
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