Research on data-driven ship trajectory tracking control method

Aiming at the problems of unknown ship model parameters, unknown external disturbance and servo constraints, a data-driven online identification of ship parameters and iterative analytical calculation of the optimal control quantity of the track tracking control method is proposed. Firstly, the three degrees of freedom dynamics equation of the double propeller ship was constructed, and the extended state observer-multiple innovation recursive least squares interactive algorithm was designed by collecting the motion data of the ship, which realized the online identification of model parameters and the estimation of unknown disturbances, and reduced the strict requirements of the identification algorithm on the experimental design. Then, by approximating the identified ship motion model to a time-invariant linear model in the sampling period, the ship trajectory tracking problem can be transformed into a linear quadratic optimization control problem with constraints and disturbances. Then, the weighted matrix and penalty function were introduced to construct the quadratic performance index including the trajectory error, external disturbance and control constraint inequality. The analytical solution of the matrix Riccati differential equation was obtained by using the precise integration method, and the iterative calculation formula of the finite-time state regulator was obtained. Finally, by using MATLAB to carry out numerical simulation and analyze the influence of weight matrix Q,Rand S on trajectory tracking accuracy, the results verify the effectiveness of the parameter identification and control algorithm.