Abstract

This paper deals with the ship course tracking control problem in a novel inverse optimal control approach. The inverse optimal stabilization problem and inverse optimal gain assignment problem are firstly extended to general systems affine in the control with unknown control gain. It is shown that a sufficient condition to solve the inverse optimal control problem is the existence of a stabilization control law in a special form for a corresponding auxiliary system. Then, by employing backstepping technique, control laws are designed which solve the inverse optimal stabilization, inverse optimal adaptive stabilization and inverse optimal adaptive gain assignment problem of ship course control system, respectively. Simulations are included to illustrate the effectiveness of the proposed control algorithms.

中文翻译：

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船舶航向保持控制的逆最优方法

摘要

本文采用一种新型的逆最优控制方法来处理船舶航向跟踪控制问题。逆最优稳定问题和逆最优增益分配问题首先被扩展到仿射控制增益未知的一般系统。结果表明，解决逆最优控制问题的充分条件是，对于相应的辅助系统，存在一种特殊形式的稳定控制律。然后，通过采用反推技术，设计了控制律，分别解决了船舶航向控制系统的逆最优稳定，逆最优自适应稳定和逆最优自适应增益分配问题。仿真包括在内以说明所提出的控制算法的有效性。