舰船混沌运动的单输入自适应变结构控制

CHAOS CONTROL OF SHIP STEERING VIA SINGLE INPUT ADAPTIVE SLIDING MODE CONTROL METHOD

针对在舰船混沌运动控制中由模型不确定性及外部扰动无法确知所引起的控制结果无法保证的问题,采用自适应控制与滑模变结构控制相结合的方法,在设计切换函数时,将符号函数转移到控制输入的一阶导数当中,有效抑制了变结构控制中的抖振问题,并提出了一种单输入自适应滑模变结构控制方法.实验结果表明,与传统滑模变结构控制相比,新方法能够在系统模型具有不确定性及未知外部扰动的情况下实现舰船混沌运动的良好控制,为舰船混沌运动控制提供了一种可靠的工程实现途径.

Aiming at the uncertainty problem caused by model uncertainties and external disturbances in actual control process of chaotic ship steering, this paper combined the adaptive control method with sliding mode con- trol method, and also transferred the sign function to the first derivative of control input when designing the switching function, which eliminates the chattering problem in common sliding mode control method, so a single input adaptive sliding mode control method for chaotic ship steering control was proposed. The experiment results show that, compared with the traditional sliding mode control method, the proposed method has a good performance on chaotic ship steering control with model uncertainties and external disturbances, which provides a more reliable way for chaotic ship steering control.