Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Heading control of catamaran based on RBF ARX model
| DOI: | 10.11809/bqzbgcxb2023.11.017 |
| Keywords: | catamaran; radial basis function; neural network; auto regressive model; linear quadratic regulator; course keeping control |
| Abstract: | In order to improve the maneuverability of the catamaran, an equivalent rudder scheme is designed. On this basis, aiming at the complexity of the ship mechanism modeling method and the nonlinear problems existing in the motion process, the RBF ARX model is used to describe the relationship between the rudder angle and the heading angle, and the catamaran model based on the RBF ARX model is established. Compared with the ARX model in one step prediction and long term prediction, the better model is selected according to the results. LQR course keeping controller is designed based on the optimal model. The simulation and real time control results show that the LQR method based on RBF ARX model can realize the course keeping control with or without wind disturbance, which verifies the effectiveness and feasibility of the RBF ARX model LQR course keeping control method for catamaran. |
| Issue: | Vol. 44 No. 11 (2023) |
| Published: | 2023-11-28 |
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