摘要
航迹控制存在累积跟踪控制误差较高的问题,容易导致无人船发生安全事故,因此,应对基于自主航行系统的无人船海上航迹多目标控制技术加以研究。本文基于自主航行系统定位无人船,根据系统采集的海域环境信息规划无人船海上航迹,设计由动态神经网络结合扰动观测器的复合控制器,实现无人船海上航迹多目标跟踪控制。实验结果表明,研究技术可以实时跟踪控制无人船海上航迹,提高无人船航行的安全性,且在多目标跟踪控制误差上具有显著优势。
Track control has the problem of high cumulative tracking control error,which is easy to lead to safety accidents of unmanned ships,so the multi-target control technology of unmanned ship maritime track based on autonomous navigation system should be studied.In this paper,based on the autonomous navigation system to locate the unmanned ship,according to the sea environment information collected by the system,the unmanned ship maritime track is planned,and a composite controller by dynamic neural network combined with perturbation observer is designed to realize the multi-target tracking and control of the unmanned ship maritime track.The experimental results show that the research technology can track and control the maritime track of the unmanned ship in real time manner,improve the safety of the unmanned ship navigation,and has a significant advantage in the multi-target tracking control error.
作者
毛炼
刘鑫
Mao Lian;Liu Xin(CNOOC Safety Technology Service Co.,Ltd.Zhanjiang Branch,Zhanjiang 524057,Guangdong Province,China)
出处
《科学与信息化》
2024年第2期40-42,共3页
Technology and Information
关键词
自主航行系统
无人船
海上航迹
多目标控制技术
autonomous navigation system
unmanned ship
maritime track
multi-target control technology
