本文提出基于CMA-ES优化的LQR船舶自主靠泊控制系统，系统化地解决船舶在靠泊过程中涉及的路径规划、最优控制、外界干扰、物理执行结构约束等问题并使用仿真软件实现基于LQR以及基于CMA-ES优化的LQR的自主靠泊控制系统，实验结果表明，基于CMA-ES的优化控制方法能够很好地实现小型船舶的自主靠泊，系统鲁棒性表现良好。
This paper proposes a hybrid method based on LQR and CMA-ES for autonomous berthing control system, which systematically solve the problems involved during the berthing process, such as path planning, optimal control, dynamic environmental interference, physical execution structure constraints, and etc. The autonomous berthing control system based on basic LQR and improved LQR-CMA-ES is achieved and the simulation work shows that the given method can achieve autonomous berthing of ships well and the system has good robustness against the environmental interference.
2024,46(7): 81-87 收稿日期：2023-4-20
DOI：10.3404/j.issn.1672-7649.2024.07.014
分类号：U674.91
基金项目：国家自然科学基金资助项目（51879119）；福建省自然科学基金资助项目（2021J01822，2022J01323）；福建省科技计划对外合作项目（3502ZCQXT2021007）
作者简介：殷键(1999-),男,硕士研究生,研究方向为交通信息工程及控制
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