Stabilization of underactuated surface vessel with Genetic Algorithm optimization

doi:10.3778/j.issn.1002-8331.2009.08.062

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (8): 204-207.DOI: 10.3778/j.issn.1002-8331.2009.08.062

• 工程与应用 • Previous Articles Next Articles

Stabilization of underactuated surface vessel with Genetic Algorithm optimization

LIU Yang,GUO Chen,ZHANG Chuang

College of Information Science and Technology，Dalian Maritime University，Dalian，Liaoning 116026，China

Received:2008-09-08 Revised:2008-10-16 Online:2009-03-11 Published:2009-03-11
Contact: LIU Yang

遗传优化的欠驱动船舶镇定控制

刘杨,郭晨,张闯

大连海事大学信息科学技术学院，辽宁大连 116026

通讯作者: 刘杨

Abstract

Abstract: Based on the diffeomorphism equivalent transformation and Lyapunov feedback function law，a backstepping controller is proposed for a three-DOF underactuated surface vessel with nonholonomic acceleration constraints.And because of system with saturation input，an improved method based on genetic algorithm is presented to solve the unstable stability problem.The disturbances are compensated by Lyapunov method.Numerical simulation results show the effectiveness of the method，and the optimized controller prevents unstable stability resulted from over control energy.

Key words: underactuated surface vessels, stabilization, nonholonomic constraint, Lyapunov function, Genetic Algorithm（GA）

摘要： 针对带有加速度非完整约束的三自由度欠驱动水面船舶镇定问题，提出了一种基于微分同胚等效变换和Lyapunov直接法的后推镇定控制算法，同时为了解决因系统输入固有饱和特性而导致控制不稳定问题，提出了基于遗传优化的欠驱动水面船舶镇定控制改进算法。并对风浪干扰进行了Lyapunov补偿，保证了控制器对外界干扰的鲁棒性。仿真实验表明了该算法的有效性，并且优化后的控制器有效地防止了因控制能量过大导致的系统不稳问题。

关键词: 欠驱动水面船舶, 镇定, 非完整约束, Lyapunov函数, 遗传算法

LIU Yang,GUO Chen,ZHANG Chuang. Stabilization of underactuated surface vessel with Genetic Algorithm optimization[J]. Computer Engineering and Applications, 2009, 45(8): 204-207.

刘杨,郭晨,张闯. 遗传优化的欠驱动船舶镇定控制[J]. 计算机工程与应用, 2009, 45(8): 204-207.

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Stabilization of underactuated surface vessel with Genetic Algorithm optimization

遗传优化的欠驱动船舶镇定控制

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