无人运输船舶的直线航迹反步自适应滑模控制(英文)

Adaptive Backstepping Sliding Mode Control for Straight Line Track of Unmanned Transport Ship

随着无人船技术的发展,智能控制逐渐运用到大型无人运输船舶上。在船舶航行过程中,经常会受到一些非线性因素的干扰。基于船舶运动的Norbbin非线性数学模型和李雅普诺夫稳定性理论在闭环控制系统中的应用,提出一种新型滑模控制方法,并和反步法相结合,在扰动界已知的前提下设计一种反步滑模控制器,控制船舶的航迹。当扰动界未知时,提出一种自适应反步滑模的控制方法。最后运用Matlab对"大智"智能运输船模型进行仿真,控制方法和PID控制进行对比,结果表明自适应反步滑模控制比PID控制的稳定性更强,响应更快。

With the development of unmanned ship technology, the intelligent control of ships is gradually used on large unmanned transport ships. In the course of navigation, ships are often disturbed by various nonlinear factors. Based on Norbbin nonlinear ship motion model, and adopting Lyapunov stability theorem to guarantee the stability of the closed-loop control system, a new sliding mode control method is proposed. Combined with backstepping, a backstepping sliding mode control method is designed to control the line track of ship on condition that the bound of disturbance is known. If the bound of disturbance is unknown, an adaptive backstepping sliding mode control method is designed. Simulation results with model of intelligent bulk carrier called Idolphin by Matlab demonstrate that this method is more stable and faster than PID controller.