Merchant Marine College, Shanghai Maritime University, Shanghai 201306, China.
Transport Planning and Research Institute, Ministry of Transport of China, Beijing 100028, China.
Comput Intell Neurosci. 2021 Dec 8;2021:4675408. doi: 10.1155/2021/4675408. eCollection 2021.
The differential evolution algorithm (DEA)-based iterative sliding mode control (ISMC) method was proposed for the path tracking problem of three-degree-of-freedom (3-DoF) underactuated ships under external interference, with the nonlinear separate model proposed by mathematical model group (MMG). To improve control quality and enhance robustness of the control system, a swarm intelligence optimization algorithm is used to design a controller parameter optimization system. The DEA was adopted in the system to solve the minimum system evaluation index function, and the optimal controller parameters are acquired. Considering the impact of chattering on the actual project, a chattering measurement function is defined in the controller design and used as an input of the controller parameter optimization system. Finally, the 5446TEU container ship is carried out for simulation. It is verified that the designed controller with strong robustness can effectively deal with the disturbances; meanwhile, the chattering of the output is significantly reduced, and the control rudder angle signal conforms to the actual operation requirements of the ship and is more in line with the engineering reality.
基于差分进化算法（DEA）的迭代滑模控制（ISMC）方法被提出，用于解决外部干扰下三自由度（3-DoF）欠驱动船舶的路径跟踪问题，采用数学模型组（MMG）提出的非线性分离模型。为了提高控制质量和增强控制系统的鲁棒性，采用群体智能优化算法设计了控制器参数优化系统。该系统采用 DEA 求解最小系统评价指标函数，获得最优控制器参数。考虑到抖振对实际工程的影响，在控制器设计中定义了一个抖振测量函数，并将其作为控制器参数优化系统的输入。最后，对 5446TEU 集装箱船进行了仿真。验证了所设计的控制器具有较强的鲁棒性，能够有效地处理干扰；同时，输出的抖振明显减少，控制舵角信号符合船舶的实际运行要求，更符合工程实际。
