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研究生：	籃昱任 Lan, Yu-Jen
論文名稱：	自主無人水上載具操控設計 Maneuvering Control Design of Unmanned Surface Vehicles with Uncertainties and Disturbances
指導教授：	陳永裕 Chen, Yung-Yue
學位類別：	碩士 Master
系所名稱：	工學院 - 系統及船舶機電工程學系 Department of Systems and Naval Mechatronic Engineering
論文出版年：	2021
畢業學年度：	109
語文別：	英文
論文頁數：	93
中文關鍵詞：	無人水面載具、追蹤與操縱、H∞/H2混合型PID類控制器、極點區域約束、控制力道約束、適應性類神經控制、滑動平面控制、線性矩陣不等式
外文關鍵詞：	Unmanned surface vehicle, Path maneuvering, Mixed H∞/H2 PID type controller, Regional pole constraints, Control action constraints, Adaptive neural network control, Sliding-mode control, Linear matrix inequality (LMI)
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在本研究中，一個具多個目標的無人水面載具(USV)控制設計被建立了起來，其目標是在模型不確定性和外部干擾的情況下具備多個操控性能，包括H_infinity追踪能力、H_2追踪性能、極點區域約束性和控制力道約束性。結合神經網絡補償器和滑動平面補償器，此論文開發出一種PID類型之無人水面載具控制器。為了近似具備不確定性之USV模型，並消除神經網絡所留下的近似殘差，在此控制設計中採用了自適應神經網絡補償器和滑動平面補償器進入控制器設計中。而為了符合多個控制性能目標，將通過線性矩陣不等式（LMI）公式求解類PID控制增益。這種LMI問題可以歸類為特徵值問題（EVP），並可以使用著名的仿真平台MATLAB中提供的LMI工具箱求解，以迅速有系統得解決EVP問題。所提出的控制方案之可行已通過數學上的穩定度驗證，並在隨後的數值模擬結果得到了驗證。

For path maneuvering an unmanned surface vehicle (USV) amidst uncertainties and external disturbances, control designs with multiple objectives including H_infinity tracking performance, H_2 tracking performance, regional pole constraints, and control action constraints are established. In this study, a proportional-integral-derivative (PID) type controller is developed in collaboration with a neural network compensator and a sliding-mode compensator in which adaptive neural networks compensator is employed to approximate the USV model with uncertainties and sliding-mode compensator is applied to cancel the residue of the approximation error left by the neural networks. To comply with multiple control objectives, PID control gain will be determined by utilizing linear matrix inequality (LMI) formulas. Such LMI can be classified as an eigen value problem (EVP), which can then be addressed quickly using the MATLAB LMI toolbox. Ultimately, the stability of the proposed control laws had been verified in mathematics, and the path maneuverability had been demonstrated via the following numerical simulation.

中文摘要	ii
Abstract	iii
誌謝	iv
Contents	v
List of Tables	viii
List of Figures	ix
Nomenclatures	xi
Chapter 1 Introduction and Literature Review	1
Chapter 2 Model of USV	7
2.1 Reference Frame	7
2.1.1 Earth-Centered Frame	7
2.1.2 Geographic Frame (Earth Frame)	8
2.1.3 Body-Fixed Frame	9
2.2 Model of USV in Body-Fixed Frame Prospective	10
2.3 Model of USV in Earth Frame (Geographic Frame) Perspective	11
2.4 Model of Environmental Disturbances	12
2.4.1 Ocean Current	12
2.4.2 Wind	15
2.4.3 Wave	17
Chapter 3 Guidance and Trajectory Generator	22
3.1 Guidance System	22
3.1 Trajectory Generator	22
Chapter 4 Control Design Objectives of USV and Problem Formulation	29
4.1 Tracking Error Dynamic of USV	29
4.2 Refinement on Tracking Error of Heading Angle	31
4.3 Tracking Performance and Constraint	33
4.2.1   Tracking Performance	34
4.2.2   Tracking performance	34
4.2.3 Regional Pole Constraints	35
4.2.3 Constraints on Magnitude of Control Action	35
Chapter 5 Maneuvering Control Design of USV	36
5.1 Neural Network Compensator and Sliding-mode Compensator	36
5.2 Maneuvering Control Design via LMI Formulation	41
5.2.1 Control Design with   Tracking Performance	41
5.2.2 Control Design with   Tracking Performance	43
5.2.3 Control Design with Regional Pole Constraints	46
5.2.4 Control Design with Control Action Constraints	47
5.3 Multi-objective PID type Maneuvering Control Design of USV with Uncertainty and Disturbance	50
5.3.1   PID type Maneuvering Control Design with Constraints	50
5.3.2   PID type Maneuvering Control Design with Constraints	50
Chapter 6 Power Allocation of USV	52
Chapter 7 Simulation and Result	55
7.1 Setting of Simulation	55
7.1.1 Setting of Unmanned Surface Vehicle	55
7.1.2 Setting of External Environment Disturbances	56
7.1.3 Setting of Desired Trajectory	56
7.1.4 Setting of Control Parameters	57
7.2 Result and Discussion	62
Chapter 8 Conclusion	78
Chapter 9 Future Work	79
Reference	84
Appendix I: Parameters of Unmanned Surface Vehicle	89
Appendix II: Parameters of Environmental Disturbance	90
Appendix III: Waypoints for Trajectory	92
Appendix IV: Parameters of Power Allocation and Inequality of Arc Tangent	93
                                    

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2026-08-18公開

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