基于UDE的船舶自动靠泊控制

UDE-based automatic berthing control of ships

为解决船舶在外界扰动和模型不确定条件下自动靠泊控制精度降低的问题,基于不确定和扰动估计器(uncertainty and disturbance estimator,UDE),提出一种自适应反步控制方法。利用指令滤波器,抑制传统反步法虚拟控制求导产生的微分爆炸现象。通过设计辅助系统,补偿指令滤波器误差,达到三自由度船舶自动靠泊控制的目的。通过Lyapunov理论证明UDE与控制器相结合的闭环系统的稳定性和信号的一致最终有界性。仿真实验表明,所设计的控制器能较准确地估计复杂扰动,并保证船舶到达期望的位置和艏向。

To address the accuracy reduction problem of ship automatic berthing control under the conditions of external disturbances and model uncertainty,an adaptive backstepping control method based on the uncertainty and disturbance estimator(UDE)is proposed.The command filter is used to suppress the differential explosion caused by the virtual control derivation in the conventional backstepping,and an auxiliary system is designed to compensate the command filter error to realize the automatic berthing control of a three-degree-of-freedom ship.The stability and the uniformly final boundedness of signals of the proposed closed-loop system combining the UDE with the controller are demonstrated by Lyapunov theory.The simulation experiments show that the designed controller can accurately estimate the complex disturbances and ensure that the ship reaches the desired position and orientation.