進階搜尋


   電子論文尚未授權公開,紙本請查館藏目錄
(※如查詢不到或館藏狀況顯示「閉架不公開」,表示該本論文不在書庫,無法取用。)
系統識別號 U0026-2608202009292100
論文名稱(中文) 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(英文) Nonlinear Adaptive Fuzzy Robust Guidance Law Design of Autonomous Marine Surface Vessels
校院名稱 成功大學
系所名稱(中) 系統及船舶機電工程學系
系所名稱(英) Department of Systems and Naval Mechatronic Engineering
學年度 108
學期 2
出版年 109
研究生(中文) 曾紹涵
研究生(英文) Shao-Han Tseng
學號 P16074230
學位類別 碩士
語文別 英文
論文頁數 108頁
口試委員 口試委員-周顯光
指導教授-陳永裕
口試委員-吳常熙
口試委員-沈聖智
中文關鍵字 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 
英文關鍵字 Autonomous marine surface vessel (AMSV)  nonlinear adaptive fuzzy robust guidance law (AFRGL)  multi-input multi-output (MIMO) nonlinear system  waypoint based trajectory design 
學科別分類
中文摘要 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。
英文摘要 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.
論文目次 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
參考文獻 References

[1] N. Wang, Z. Sun, J. Yin, S. Su, and S. Sharma, "Finite-Time Observer Based Guidance and Control of Underactuated Surface Vehicles With Unknown Sideslip Angles and Disturbances," IEEE Access, vol. 6, pp. 14059-14070, 2018.
[2] J. Liu, M. Fu, and Y. Xu, "Robust Synchronization of Multiple Marine Vessels With Time-Variant Disturbance and Communication Delays," IEEE Access, vol. 7, pp. 39680-39689, 2019.
[3] Z. Liu, "Ship Adaptive Course Keeping Control With Nonlinear Disturbance Observer," IEEE Access, vol. 5, pp. 17567-17575, 2017.
[4] B. Qiu, G. Wang, Y. Fan, D. Mu, and X. Sun, "Robust Adaptive Trajectory Linearization Control for Tracking Control of Surface Vessels With Modeling Uncertainties Under Input Saturation," IEEE Access, vol. 7, pp. 5057-5070, 2019.
[5] C. Paliotta, E. Lefeber, K. Y. Pettersen, J. Pinto, M. Costa, and J. T. d. F. B. d. Sousa, "Trajectory Tracking and Path Following for Underactuated Marine Vehicles," IEEE Transactions on Control Systems Technology, vol. 27, no. 4, pp. 1423-1437, 2019.
[6] Z. Zhao, W. He, and S. S. Ge, "Adaptive Neural Network Control of a Fully Actuated Marine Surface Vessel With Multiple Output Constraints," IEEE Transactions on Control Systems Technology, vol. 22, no. 4, pp. 1536-1543, 2014.
[7] Y. Zhang, S. Li, and X. Liu, "Adaptive Near-Optimal Control of Uncertain Systems With Application to Underactuated Surface Vessels," IEEE Transactions on Control Systems Technology, vol. 26, no. 4, pp. 1204-1218, 2018.
[8] W. Yue, X. Guan, and L. Wang, "Robust Nonlinear Multiple Unmanned Surface Vessels Control Against Probabilistic Faults and Time-Varying Delay," IEEE Access, vol. 7, pp. 143263-143272, 2019.
[9] Z. Chen, Y. Zhang, Y. Nie, J. Tang, and S. Zhu, "Adaptive Sliding Mode Control Design for Nonlinear Unmanned Surface Vessel Using RBFNN and Disturbance-Observer," IEEE Access, vol. 8, pp. 45457-45467, 2020.
[10] G. Wen, S. S. Ge, C. L. P. Chen, F. Tu, and S. Wang, "Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique," IEEE Transactions on Cybernetics, vol. 49, no. 9, pp. 3420-3431, 2019.
[11] B. Chen, C. S. Wu, and Y. W. Jan, "Adaptive Fuzzy Mixed H2/H∞ Attitude Control of Spacecraft," Aerospace and Electronic Systems, IEEE Transactions on, vol. 36, pp. 1343-1359, 2000.
[12] T. Takagi and M. Sugeno, "Fuzzy Identification of Systems and Its Applications to Modeling and Control," IEEE Transactions on Systems, Man, and Cybernetics, vol. SMC-15, no. 1, pp. 116-132, 1985.
[13] B. Chen, C. H. Lee, and Y. C. Chang, "H∞ Tracking Design of Uncertain Nonlinear SISO Systems: Adaptive Fuzzy Approach," Fuzzy Systems, IEEE Transactions on, vol. 4, pp. 32-43, 1996.
[14] Y. C. Chang and B. S. Chen, "Robust Tracking Designs for both Holonomic and Nonholonomic Constrained Mechanical Systems: Adaptive Fuzzy Approach," IEEE Transactions on Fuzzy Systems, vol. 8, no. 1, pp. 46-66, 2000.
[15] Y. T. Kim and Z. Bien, "Robust Indirect Adaptive Fuzzy Control," vol. 3, pp. 1293-1298, 1999.
[16] W. Shi, "Adaptive Fuzzy Control for MIMO Nonlinear Systems With Nonsymmetric Control Gain Matrix and Unknown Control Direction," IEEE Transactions on Fuzzy Systems, vol. 22, no. 5, pp. 1288-1300, 2014.
[17] T. I. Fossen, "Guidance and Control of Ocean Vehicles," 1994.
[18] Y. Y. Chen, C. Y. Lee, S. H. Tseng, and W. M. Hu, "Nonlinear Optimal Control Law of Autonomous Unmanned Surface Vessels," Applied Sciences, vol. 10, no. 5, p. 1686, 2020.
[19] J. Jin, J. Zhang, and D. Liu, "Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle," (in eng), Sensors (Basel, Switzerland), vol. 18, no. 10, p. 3427, 2018.
[20] R. Johansson, "Quadratic optimization of motion coordination and control," IEEE Transactions on Automatic Control, vol. 35, no. 11, pp. 1197-1208, 1990.
[21] T. Stillfjord, "Low-Rank Second-Order Splitting of Large-Scale Differential Riccati Equations," IEEE Transactions on Automatic Control, vol. 60, no. 10, pp. 2791-2796, 2015.
[22] M. Breivik and T. I. Fossen, "Guidance Laws for Autonomous Underwater Vehicles," Underwater vehicles, vol. 4, pp. 51-76, 2009.
[23] X. B. Xiang, C. Y. Yu, and Q. Zhang, "Robust Fuzzy 3D Path Following for Autonomous Underwater Vehicle Subject to Uncertainties," Computers & Operations Research, vol. 84, pp. 165-177, 2017.
論文全文使用權限
  • 同意授權校內瀏覽/列印電子全文服務,於2025-08-31起公開。
  • 同意授權校外瀏覽/列印電子全文服務,於2025-08-31起公開。


  • 如您有疑問,請聯絡圖書館
    聯絡電話:(06)2757575#65773
    聯絡E-mail:etds@email.ncku.edu.tw