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研究生:曾紹涵
研究生(外文):Shao-HanTseng
論文名稱:自主水面載具之非線性適應模糊強健控制律設計
論文名稱(外文):Nonlinear Adaptive Fuzzy Robust Guidance Law Design of Autonomous Marine Surface Vessels
指導教授:陳永裕陳永裕引用關係
指導教授(外文):Yung-Yue Chen
學位類別:碩士
校院名稱:國立成功大學
系所名稱:系統及船舶機電工程學系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2020
畢業學年度:108
語文別:英文
論文頁數:108
中文關鍵詞:自主水面載具非線性適應模糊強健控制律多輸入多輸出非線性系統基於導航點之軌跡設計
外文關鍵詞:Autonomous marine surface vessel (AMSV)nonlinear adaptive fuzzy robust guidance law (AFRGL)multi-input multi-output (MIMO) nonlinear systemwaypoint based trajectory design
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針對具有時變建模不確定性和未知隨機環境擾動之自主水面載具之軌跡追蹤問題,提出了一種多輸入多輸出非線性適應模糊強健控制律設計。為解決建模不確定性和環境擾動影響的問題,此針對多輸入多輸出非線性系統之控制律結合了兩個適應模糊估測器和一個強健補償器,以適應地鑑別自主水面載具之實際模型,並同時強健地衰弱環境擾動及估測誤差,以實現精確的軌跡追蹤性能。從模擬結果來看,此控制設計實現了對自主水面載具的適應性、強健性及容錯性。
A multi-input and multi-output nonlinear adaptive fuzzy robust guidance law is proposed for the trajectory tracking problems of an autonomous marine surface vessel with time-varying modeling uncertainties and unknown random environmental disturbances. For solving the issues of modeling uncertainties and effects of environmental disturbances, this proposed guidance law for multi-input multi-output nonlinear system integrates two adaptive fuzzy approximators, and one robust compensator to adaptively identify the autonomous marine surface vessel’s actual model and robustly mitigate the environmental disturbances and approximation errors simultaneously in order to achieve the accurate trajectory tracking performances. From the simulation results, this proposed control design reveals virtues of adaptability, robustness and fault tolerance to autonomous marine surface vessels.
Contents
考試合格證明 i
中文摘要 ii
Abstract iii
致謝 iv
List of Tables vii
List of Figures viii
Nomenclatures xv
Chapter 1 Introduction 1
Chapter 2 Mathematical Models of Autonomous Marine Surface Vessel System 4
2.1 Modeling of the Autonomous Marine Surface Vessel 4
2.1.1 Mass and Inertia Matrix 8
2.1.2 Coriolis and Centripetal Matrix 9
2.1.3 Hydrodynamic Damping Matrix 10
2.1.4 Modeling Uncertainties of , and 11
2.2 Ocean Environmental Disturbances 12
2.2.1 Wind 12
2.2.2 Waves (Wind Generated) 14
2.2.3 Current 17
Chapter 3 Nonlinear Adaptive Fuzzy Robust Guidance Law Design 20
3.1 Adaptive Fuzzy Robust Guidance Law Design for MIMO Nonlinear Autonomous Marine Surface Vessel System 20
3.2 Waypoint Based Trajectory Generator 30
Chapter 4 Simulation Results 32
4.1 Parameters Set Up for Simulation 32
4.2 Scenario 1 38
4.3 Scenario 2 55
4.4 Scenario 3 72
4.5 Comparisons of the Proposed Guidance Law with or without Using Robust Compensator 89
Chapter 5 Conclusions 97
Appendix A 98
Appendix B 101
References 106
References

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