基于有限时间超螺旋滑模控制的船舶动力定位控制律设计

Control Law Design of Dynamic Positioning for Ship Based on Finite-time Super Twisting Sliding Mode Control

针对海上作业动力定位船舶未知环境干扰补偿控制问题,将有限时间控制技术、扩张状态观测器与超螺旋滑模控制相融合,提出一种基于有限时间超螺旋滑模的新颖船舶动力定位控制策略。应用李雅普诺夫稳定性理论证明了所设计的控制律能迫使船舶实际位置和艏摇角以有限时间的方式定位到期望值上,并保证该闭环系统的所有信号全局一致最终有界。所提出的控制策略具有收敛速度快与抗干扰能力强的优点。最后基于Marine Systems Simulator的仿真研究验证了所提控制策略的有效性。

Aiming at the problem of compensation and control of unknown environmental disturbances for dynamic positioning ships,a finite-time super twisting sliding mode for ship dynamic positioning control is proposed by combining finite-time control technology,extended state observer and super twisting sliding mode control method.By using the Lyapunov function,it was proved that the proposed control law could force the ship's position and heading in finite time to converge and keep at the desired target values and guarantee the uniformly ultimate boundedness of all signals in the closed-loop system.The proposed control strategy has the advantages of fast convergence and strong anti-interference ability.Finally,the simulation results based on Marine Systems Simulator verify the effectiveness of the proposed control strategy.