Underactuated ships are easily affected by external environmental factors such as wind,waves,and ocean currents,leading to heading deviation,hull sway,and increased navigation safety risks.To improve their stability and safety in various sea conditions,a hybrid genetic algorithm based underactuated ship heading maintenance control method is pro-posed.Construct a mathematical model for underactuated ships to describe their dynamic behavior,design a navigation hold-ing controller that includes a tracking differentiator and a fractional order sliding film controller,generate a smooth trans-ition process for the desired heading,and provide the latter with heading angular velocity and angular acceleration signals.Using heading error as its input control variable,the desired heading tracking is achieved through a designed fractional order sliding surface and control law.The controller parameters are optimized using a hybrid genetic algorithm to improve the heading tracking effect.The experimental results show that this method can achieve ship heading control under different sea conditions,with high control efficiency and small heading control overshoot.
关键词
混合遗传算法/欠驱动船舶/航向保持控制/期望航向/控制律
Key words
hybrid genetic algorithm/underactuated vessels/heading maintenance control/expected heading/control law
维普
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