面向智能船舶的自动靠泊鲁棒自适应控制

Robust adaptive control for automatic berthing of intelligent ships

针对智能船舶自动靠泊控制中因环境扰动、岸壁效应等因素的影响,导致控制精度降低和控制输出抖动,进而影响航行安全性的问题,提出了一种鲁棒自适应控制律.将动态面控制技术与反步法相结合,解决了传统反步法对虚拟控制求导造成计算复杂度增大的问题;设计了自适应律估计环境扰动,并引入鲁棒项补偿岸壁效应对船舶的干扰,以消除控制输出的抖振现象.基于一艘智能船舶模型的仿真结果验证了所提方法的有效性.

A robust adaptive control law was proposed for automatic berthing control problems of intelligent ships,in the presence of environmental disturbances and bank wall effect that lead to the reduction of control accuracy and the chattering of control outputs,which in turn would affect navigation safety.The dynamic surface control technology and backstepping method were combined to solve the problem of increasing computational complexity caused by the traditional backstepping method for derivation of virtual control.The adaptive law was designed to estimate environmental disturbances,and the robust term was introduced to compensate the disturbance of bank wall effect to the ship,respectively,in order to eliminate the chattering phenomenon of control outputs.The simulation results based on an intelligent ship model verify the effectiveness of the proposed method.