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考虑到船舶航向控制中,存在的大量不确定因素及对控制系统的实时性要求,提出一种基于鲁棒最小二乘支持向量机(RLSSVM)的船舶航向保持控制方案.该控制策略充分利用最小二乘支持向量机良好的非线性映射能力、自学习适应能力和并行信息处理能力,并与H~2/H~∞鲁棒控制算法相结合,优势互补,形成闭环控制.仿真结果表明,该系统对海情的变化有良好的自适应能力,鲁棒性强,实现了航向保持精确控制.
Considering the large number of uncertainties and the real-time requirements of the control system in ship heading control, a robust navigation least squares support vector machine (RLSSVM) -based navigation course keeping control scheme is proposed.The control strategy makes full use of the minimum Hierarchical support vector machine has good nonlinear mapping ability, self-learning adaptability and parallel information processing ability, and combined with H ~ 2 / H ~ ∞ robust control algorithm, complement each other to form closed-loop control.The simulation results show that The system has a good adaptability to the changes of the sea conditions, has strong robustness and realizes accurate heading control.