侧壁式气垫船升沉运动鲁棒自适应滑模控制

Robust adaptive sliding mode control of heave motion for surface effect ships

考虑具有动态参数不确定和时变海浪扰动的侧壁式气垫船升沉运动控制问题,将自适应技术与滑模控制方法相结合,设计侧壁式气垫船升沉运动鲁棒自适应滑模控制律.应用自适应技术设计自适应律,估计由动态参数不确定和时变海浪扰动构成的不确定项的未知界;基于不确定项界的估计,应用滑模控制方法,设计鲁棒自适应控制律,并用边界层方法消除滑模控制引起的抖振现象.理论上证明了所设计的控制律能够降低侧壁式气垫船升沉运动幅值,保证侧壁式气垫船升沉运动闭环控制系统中的所有信号是一致最终有界的.最后,基于一艘挪威海军的侧壁式气垫船的仿真研究验证了所设计的侧壁式气垫船升沉运动鲁棒自适应滑模控制律的有效性.

Considering the heave motion control problem of surface effect ships with dynamic parameter uncertainties and time-variant wave disturbance,this paper designed a robust adaptive sliding mode control law by integrating the adaptive technique and sliding mode control method.An adaptive law was designed to estimate the unknown bounds of the uncertain terms including dynamic parameter uncertainties and time-variant wave disturbance by using the adaptive technique.Based on the estimates of uncertain term bounds,a robust adaptive sliding mode control law for heave motion of surface effect ships was proposed.The chattering originated from sliding mode control was eliminated by boundary layer.It is theoretically proved that the proposed control law can damp the magnitude of heave motion of surface effect ships and guarantee that all the signals of the heave motion closed-loop control system of surface effect ships are uniformly ultimately bounded.Simulations on a Norwegian Navy＇s surface effect ship were carried out and the results illustrate the effectiveness of the proposed control law.