In order to reduce the worn-out of the rudder mechanism, a weighted term on the rate of control signal is added into the loss function and a new algori-thm of self-tuning control for the course-keeping mode has been proposed.

 
  • 為減小舵機機構的磨損;又引入控制信號變化率的約束項;導出了一種船舶航向保持自校正控制的新算法;最后對控制算法進(jìn)行了數學(xué)仿真研究.
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