基于U-LMS算法的船舶自适应逆控制

自适应逆控制的基本思想就是要用一个来自控制器的信号去驱动对象,而该控制器的传递函数就是参考模型与该对象建模函数的商.按照某一种自适应算法,用对象和指令输入之差的误差信号来调节控制器的参数以使该误差信号的均方差最小.根据IIR算法的快速收敛性,该文设计了基于U-LMS算法的IIR控制器,并把其应用到船舶模型控制上,仿真结果表明这种控制器大大减少了计算量,快速性得到了提高,并且权值的失调较小,对于参考模型的输出具有非常优良的跟踪性能.

The Adaptive Inverse Control for Shipping Based on U-LMS Algorithm

The basic thought of adaptive inverse control is to use a signal that comes from the controller to drive the plant, and the transfer function of the controller is just the quotient of the reference model and mold function of the plant. According to the given adaptive algorithm, we can use the error signal of the plant and the input to adjust the controller parameters, thus minimizing the square error of the output. Considering the rapid convergence of IIR filter,a IIR controller based on filtered - U algorithm is adopted. And applying it to the ships model control,the experimental result shows that control system based on filtered - U can reduce the computational task and improve the response rate greatly. Moreover,the misadjustment of the weight vector is slight. So it has excellent performance for tracking the output of reference mode.