水面船基于加速度反馈的无源非线性鲁棒观测器的设计方法

Design of Robust Passive Nonlinear Observer Based on Acceleration for Surface ships

利用加速度反馈技术和滑模思想,为一种特殊结构的水面船设计了无源非线性鲁棒观测器。该观测器考虑了模型中的科里奥利向心力矩阵,并对模型的不确定项和未建模动态具有一定鲁棒性。根据传感器测量的位置及艏向信息,观测器可以重构船舶的速度及慢变干扰力,并且能够滤除测量值中的噪声和高频数据,以减少执行机构的磨损,节省燃料。加速度反馈可以整定系统惯性矩阵,结合坐标变换可以从模型中消去科里奥利向心力矩阵,并得到结构相对简单的新的系统模型。该模型可以简化观测器的设计,其稳定性分析也比较容易。滑模技术可以有效地解决模型不确定性和未建模动态对观测器的影响,提高观测器的观测精度。仿真试验验证了观测器的有效性。

A robust passive non-linear observer, utilizing sliding mode concept and acceleration feedback technology, is developed for special structure vessels. Carioles＇ centripetal matrix（C-matrix） is taken into count in the proposed observer. Velocities of the ship and bias from slowly varying environmental disturbances can be reconstructed. Sliding mode technology is introduced to robust against neglected disturbances, uncertainties and unmodeled terms. Acceleration feedback（AFB） technology and coordinate transformation are used to reshape the inertia matrix and remove the C-matrix from the mathematical model, so that the observer design and stability analysis become easy. The global stability of the observer is shown with Lyapunov stability theory and a set of simulations was carried out to verify the performance of the proposed observer.