摘要
为实现欠驱动船舶在模型参数不确定和外界风浪流干扰情况下水平面的航迹跟踪控制,提出了一种指令滤波滑模鲁棒控制方法。利用指令滤波结合反步法建立航迹跟踪误差方程,设计船舶纵向速度和艏摇角的虚拟控制律镇定航迹跟踪误差,并进一步设计船舶艏摇角速度虚拟控制律镇定艏摇角误差;将船舶纵向速度和艏摇角速度的虚拟控制律作为新的跟踪目标,采用积分方法设计基于上下界的滑模控制器,克服了常规反步法对虚拟控制律求导复杂的问题,避免了微分运算在工程应用中难以接受的缺陷和控制输入的抖振现象以及减小稳态误差。仿真实验表明,设计的控制器对欠驱动船舶的模型参数摄动及外界干扰变化不敏感,能够同时实现水平面直线和曲线的精确跟踪。
In order to realize tracking control for underactuated surface vessels with parameter uncertainties and external disturbances, a command filter backstepping combined with sliding mode method was proposed. The tracking error equations were established based on command filter backstepping, which put tracking control into stabilize surge speed and course angle error using transformation equation. Then, a nonlinear sliding mode controller was designed based on integration ideas, without estimating uncertainties of underactuated surface vessel model and external disturbances. The problem of analytical and numerical differentiation of the virtual control laws was overcome, chattering of control input was circumven- ted, and the static error and overshoot decreased. The results of simulation experiments indicate that the controller is robust against the systemic variations and time-varying external disturbances. Moreover, the tracking control with high tracking precision is achieved by the proposed control method.
出处
《电机与控制学报》
EI
CSCD
北大核心
2013年第5期110-118,共9页
Electric Machines and Control
基金
国家自然科学基金(50909026)
黑龙江省自然科学基金(F200916)
中央高校基本业务专项资金(HEUCF041303)
关键词
欠驱动船舶
参数不确定
外界干扰
跟踪控制
指令滤波
滑模控制
underactuated surface vessel
parameter uncertainties
external disturbances
tracking control
command filter
sliding mode control
