Serret-Frenet框架下欠驱动船的输出反馈路径跟踪鲁棒控制

Path Following Robust Output Control of Underactuated Ship under Serret-Frenet Frame

研究欠驱动船舶在规定速度条件下的路径跟踪控制问题,提出一种基于终端滑模与Backsteping方法相结合的复合输出反馈控制策略.该控制策略利用Backsteping能够获得控制算法显式解的优点,构造出控制器算法的结构形式,然后设计一个基于观测器设计的逆动态终端滑模面,使得系统的估计状态跟踪误差能够在有限时间到达滑模面上,最终达到系统可镇定.最后,通过Lyapunov稳定性理论证明该复合控制策略的稳定性.利用实船数据进行数字仿真,结果表明该控制策略具有良好的跟踪性能.

This paper develops output controllers that force an underactuated surface ship to follow a predefined path at a constant forward speed.The proposed controllers are combined with backstepping approach and an inverse dynamic TSM surface technique.The TSM surface is constructed based on the estimates of the designed observer.Higher performance of the proposed controller is presented due to the superiority of TSM.This control scheme is designed using Lyapunov’s direct method and the popular backstepping.A stability result for nonlinear cascade systems with nonvanishing uncertainties is introduced to analyze closed-loop stability.Numerical simulations using the real data of some military ship to illustrate the effectiveness of the proposed methodology for path,a good tracking performance and robustness of the proposed controller is verified.