轨迹跟踪控制中控制增益与参考滤波器系数的同步优化
Simultaneous optimization of control gains and reference filter coefficients for trajectory tracking control
AI总结：
本文针对船舶动力定位中执行器约束问题，提出在控制律增益优化阶段引入惩罚项，并同步辨识控制增益与参考滤波器系数，仿真验证了该方法能在考虑执行器及速率饱和代价的同时实现优异跟踪性能。
摘要：
目前，多个国家和机构正在开展船舶自动化与自主化研究。安全、精确的船舶控制算法对于实现自动化运行至关重要。目标船舶的执行器驱动约束可能危及控制律的稳定性，并需要复杂的理论处理。在本研究中，我们在动力定位系统的控制律增益优化阶段引入了一个惩罚项，用以考虑执行器输入值及其变化率超过约束的程度。用于为控制律生成合适参考路径的参数与控制增益同时进行辨识。仿真结果表明，所提出的方法能够在确定控制器设计代价的同时，实现具有优异跟踪性能的控制参数和参考设计，并兼顾执行器与速率饱和两方面的影响。
英文摘要：
Research on vessel automation and autonomy is currently being conducted by various countries and institutions. Safe and accurate ship control algorithms are crucial to realize automated operation. Actuator drive constraints of a target ship may jeopardize the stability of the control law and require complex theory. In this study, we include a penalty term to the control law gain optimization stage of dynamic positioning systems to account for the amounts by which the actuator input value and its rate of change exceed the constraint. The parameters for generating a suitable reference path for the control law are identified simultaneously with the control gains. The simulation results show that the proposed method can realize control parameters and a reference design with excellent tracking performance while determining the cost of the controller design by considering the effects of both the actuators and rate saturation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
