规划控制策略下的无人船航向简捷鲁棒控制

Unmanned surface vessels concise robust course control based on planning and control scheme

针对无人船规划控制策略中航向反馈控制模块的设计问题,本文采用闭环增益成形算法对其进行控制器设计研究。利用李雅普诺夫稳定性理论对闭环增益成形算法所设计航向控制器的鲁棒性和稳定性进行分析,证明了控制系统的L 2增益鲁棒性能与控制器参数密切相关,并可以由此定量地求解出控制器参数的取值范围。在仿真实验中采用本文所提出的控制器设计策略在多向不规则波条件下对大型船舶“育鲲”轮进行仿真实验,并将本文所提出的控制策略应用于小型无人船舶的仿真实验中,通过与非线性反馈控制算法的仿真结果进行对比分析,结果表明:本文所提出的航向反馈控制器控制性能提升约4%~12%,且控制器结构简单,具有很好的应用潜力。

Considering the unmanned surface vessel(USV)course-keeping feedback controller design based on the concept of planning and control strategy,the closed-loop gain shaping algorithm was utilized to design the USV steering controller.The robustness and stability of course-keeping feedback controller designed by the closed-loop gain shaping algorithm were analyzed by Lyapunov stability theory.The analysis result showed that the L 2 gain robust control performance index of the control system was closely related to the controller tuning parameters and that the range of controller tuning parameters could be given through quantitative analysis.Finally,a course-keeping control simulation for motor vessel“YUKUN”in multi-directional irregular waves and a smart USV simulation were carried out respectively.The simulation results were compared with those of the nonlinear feedback control methods.The proposed course-keeping feedback controller could improve the control performance by 4%~12%with the concise controller structure,verifying its great application potential.