带漂角和输入饱和的水面船舶航向控制

Surface ship heading control with sideslip angle and input saturation

[目的]为处理水面船舶航向控制过程中受到的非零漂角和输入饱和影响,提出一种基于反步法的航向控制方法。[方法]首先,利用相对速度求出实际漂角,再通过漂角对航向角误差进行修正;然后,采用一种预滤波方法减小航向改变时对航速变化的影响,同时引入双曲正切函数和Nussbaum函数逼近输入约束,结合自适应律对逼近误差和艏摇方向上的扰动进行估计;最后,借助指令滤波器简化反推过程,并通过Lyapunov理论证明控制系统的稳定性。[结果]仿真结果表明,所提控制器有效减小了水面船舶的航向输出误差,且能始终保持较小的控制输入力矩。[结论]研究成果可为水面船舶航向控制设计提供参考。

[Objectives]To address the impact of non-zero sideslip angle and input saturation on the heading control of a surface ship,a method based on a backstepping control algorithm is proposed.[Methods]The actual sideslip angle is obtained through the relative velocity,and heading angle error is amended using the sideslip angle.A pre-filter is used to minimize the impact of speed change when the heading alters.Hyperbolic tangent and Nussbaum functions are introduced to approximate the input constraint,an adaptive law is designed to estimate approximation errors and disturbances in the yaw direction,and a command filter is proposed to simplify the design of the backstepping controller.The stability of the control system is proved by Lyapunov's theory.[Results]The simulation results show that the proposed controller can effectively reduce the heading output error of a surface ship while simultaneously maintaining a small control input torque.[Conclusions]The study results can provide reference for the heading control design of surface ships.