基于迭代滑模的船舶动力定位非线性控制

Ship dynamic positioning nonlinear control based on iterative sliding mode

针对存在外界干扰的船舶动力定位控制问题,提出一种简捷的迭代滑模控制算法。选择迭代滑模面,并将其与反步法结合,设计迭代滑模控制律。采用Lyapunov理论对系统的稳定性进行证明。将提出的控制算法与PID控制算法和传统反步滑模控制算法进行理论分析比较和仿真结果比较,结果表明迭代滑模控制算法具有超调小,收敛速度快,稳定性和鲁棒性好的优点。

For the dynamic positioning control issue of ships with external interference,a simple iterative sliding mode control algorithm is proposed.The iterative sliding mode surface is selected and combined with the backstepping technique to design the iterative sliding mode control law.Lyapunov theory is used to prove the stability of the system.Through the comparison of theoretical analysis and simulation results of the proposed control algorithm,the PID control algorithm and the traditional backstepping sliding mode control algorithm,it is shown that the iterative sliding mode control algorithm is of the advantages of small overshoot,fast convergence,good stability and robustness.