摘要
针对全驱动水面船舶路径跟踪控制问题,基于滑模控制技术,综合运用反演法和李雅普诺夫理论,设计船舶路径跟踪控制器,并验证其稳定性;在控制器中加人一阶低通滤波器,过滤高频波段,提高控制器的精度;通过在仿真环境中搭建模型,进行直线、圆和正弦曲线轨迹路径跟踪试验,验证控制算法的有效性。
In view of the full-driven surface ship path tracking control problem,the ship path tracking controller is designed based on the sliding mode control technology,the inversion method and Lyapunov theoryare comprehensively used,and its stability is verified.A first-order low-pass filter is added to the controller to filter the high-frequency band and improve the accuracy of the controller.The effectiveness of the control algorithm is verified by building a model in the simulation environment and conducting path tracking tests of linear,circular and sinusoidal curves.
作者
程陈
金开嵩
樊翔
桂皓
CHENG Chen;JIN Kaisong;FAN Xiang;GUI Hao(Shanghai Merchant Ship Design and Research Institute,Shanghai 201203,China)
出处
《船舶设计通讯》
2023年第2期11-17,共7页
Journal of Ship Design
基金
中船自立科技研发专项“智能游艇自主开发”(202125Z)。
关键词
智能船舶
路径跟踪控制滑模控制
反演法
intelligent ship
path following control
sliding mode control
backstepping method
