基于分段式双幂次趋近律的迭代滑模航向控制

Iterative Sliding Mode Course Control Based on Segmented Double-Power Approach Law

应用滑模变结构控制方法设计了一种简单高效的船舶航向控制器。为解决滑模变结构控制器方法中的收敛速率慢和抖振强的难题,提出一种分段式双幂次趋近律。数学验证表明提出的趋近律的收敛速率更快。同时,在未知海况干扰下为使控制器时刻保持在最佳状态,引入RBF神经网络对控制器参数实施在线估计,增强自适应性。仿真结果表明:分段式双幂次趋近律削弱抖振效果明显,基本无抖振;依此方法设计的控制器对外界风浪干扰有更强的鲁棒性。

A simple and efficient ship heading controller was designed by using the sliding mode variable structure control method.In order to solve the problem of slow convergence rate and strong chattering in the sliding mode variable structure controller method,a segmented double-power approach law was proposed.The mathematical verification shows that the convergence rate of the proposed reaching law is faster.At the same time,in order to keep the controller in the optimal state under the disturbance of unknown sea conditions,the RBF neural network was introduced to implement online estimation of the controller parameters to enhance the adaptability.The simulation results show that the segmented double-power approach law has obvious effect on reducing chattering and almost no chattering;the controller designed by the proposed method has stronger robustness to external wind and wave disturbance.