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基于非线性干扰观测器的船舶编队控制方法 被引量:2
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作者 董然 孙创 +3 位作者 傅强 李长江 魏薇 辛禄平 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2022年第5期697-705,共9页
考虑海上随机时变环境干扰,针对基于有向、时不变通信网络相联的多动力定位船设计编队控制器。本文提出一种非线性干扰观测器的设计方法来估计不确定环境干扰,证明所设计观测器的干扰估计误差能在有限时间内收敛。根据船舶编队的通信拓... 考虑海上随机时变环境干扰,针对基于有向、时不变通信网络相联的多动力定位船设计编队控制器。本文提出一种非线性干扰观测器的设计方法来估计不确定环境干扰,证明所设计观测器的干扰估计误差能在有限时间内收敛。根据船舶编队的通信拓扑,运用反步法设计分布式控制器来补偿环境干扰、实现编队精确控制;在设计中引入响应速度函数,以保证动力定位船在预设时间内的跟踪性能;并根据李雅普诺夫理论证明完整闭环动态系统的稳定性。仿真结果表明:本文设计的船舶编队控制器响应指令快速准确,且有良好的鲁棒性。 展开更多
关键词 编队控制 路径跟踪 干扰观测器 有限时间收敛 分布式控制器 响应速度函数
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Modified nonlinear chirp scaling algorithm for curvilinear trajectory synthetic aperture radar 被引量:1
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作者 王建涛 秦玉亮 +2 位作者 范波 王宏强 黎湘 《Journal of Central South University》 SCIE EI CAS 2014年第7期2751-2758,共8页
The original nonlinear chirp scaling(NCS) algorithm was extended for high precision processing of the highly squinted curvilinear trajectory synthetic aperture radar(CTSAR).Based on the analysis of slant range model a... The original nonlinear chirp scaling(NCS) algorithm was extended for high precision processing of the highly squinted curvilinear trajectory synthetic aperture radar(CTSAR).Based on the analysis of slant range model and the frequency spectrum characteristics of the echo signal,a novel nonlinear chirp scaling function and more complex phase compensation factors with both velocity and acceleration parameters were proposed in the new algorithm for accommodation to curvilinear trajectory.The processing flow and computational complexity of modified NCS algorithm were fundamentally the same as the original NCS algorithm.However,the higher order phase compensation,range cell migration correction(RCMC) and range-variant secondary range compression(SRC) caused by the non-linear aperture and the severe range-azimuth coupling were accomplished accurately and efficiently without interpolation.Simulation results show that data acquired with a curvilinear aperture and a squint angle up to about 50° for X-band can be processed with no evident degradation of impulse response function. 展开更多
关键词 synthetic aperture radar nonlinear chirp scaling curvilinear trajectory ACCELERATION
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