预设性能下的输出受限船舶航向切换容错控制

Output Limited Ship Course Switching Fault Tolerant Control with Prescribed Performance

针对船舶输出受限、执行器故障不确定性和受到未知海洋扰动的船舶航向控制问题,提出一种基于切换策略的自适应容错控制方案。利用对数障碍李雅普诺夫约束航向误差并将状态输出约束在有限范围内。结合预设性能理论和反步法,针对具有不确定参数和执行器故障的船舶控制系统,将健康执行器作为备用。通过设计一套监控函数来监督航向误差的动态范围,实现了在执行器故障且故障模式未知的情况下,船舶航向控制器从故障执行器切换到健康执行器,同时满足跟踪误差的收敛性及控制系统稳定性。仿真验证了所提出算法的有效性。

Aiming at the problems of ship heading control with limited ship output,uncertainty of actuator failure and unknown ocean disturbance,an adaptive fault-tolerant control scheme based on the switching strategy is proposed.The logarithmic barrier Lyapunov is used to constrain heading error and constrain state output to a limited range.Combined with the prescribed performance theory and backstepping method,healthy actuators are used as a backup for ship control systems with uncertain parameters and actuator failures.By designing a set of monitoring functions to monitor the dynamic range of the heading error,the ship heading controller can be switched from the faulty actuator to the healthy one when the actuator is faulty and the failure mode is unknown.Simulation experiments verify the effectiveness of the algorithm proposed in this paper.