摘要
为解决船舶路径跟踪控制中存在的非线性问题,引入滑模控制实现船舶的轨迹跟踪。采用云模型与指数趋近律结合的方法,设计基于云模型的轨迹跟踪智能滑模控制器,以减少滑模控制中的抖振。仿真结果表明,通过云模型的不确定性推理,智能滑模控制器能够动态调整滑模控制的趋近速度,抑制抖振的产生,船舶动态轨迹跟踪性能良好,能够精确控制航迹。
In order to solve nonlinear problems in trajectory tracking,the sliding-mode method is presented in tracking control of surface vessels.The intelligent sliding-mode controller is designed by combination of cloud model and exponential reaching law so as to alleviate the chattering.With reasoning method of cloud model,the reaching speed of the intelligent sliding-mode controller can be adjusted dynamically.Simulation results indicate that the control performance of dynamic tracking is good,the chattering is effectively weakened,and the method can accurately track trajectory.
出处
《计算机工程》
CAS
CSCD
2012年第10期227-229,233,共4页
Computer Engineering
关键词
轨迹跟踪
云模型
不确定性推理
滑模控制
指数趋近律
抖振
trajectory tracking
cloud model
uncertain reasoning
sliding-mode control
exponential reaching law
chattering
