武汉理工大学学报(交通科学与工程版)
武漢理工大學學報(交通科學與工程版)
무한리공대학학보(교통과학여공정판)
Journal of Wuhan University of Technology (Transportation Science & Engineering)
2015年
5期
905-909
,共5页
张军%李国胜%张天宏%刘志林
張軍%李國勝%張天宏%劉誌林
장군%리국성%장천굉%류지림
欠驱动水面船舶%直线航迹跟踪%有限时间控制%干扰观测器
欠驅動水麵船舶%直線航跡跟蹤%有限時間控製%榦擾觀測器
흠구동수면선박%직선항적근종%유한시간공제%간우관측기
underactuated surface vessel%line path following%finite time control%disturbance observer
针对存在风、浪、流时变干扰的三自由度欠驱动水面船舶轨迹跟踪问题,根据有限时间控制对系统的不确定性和外界干扰具有鲁棒性的特点,提出了一种基于有限时间和Backstepping复合的非线性控制方案。对欠驱动水面艇运动学和动力学建模,通过简化将航迹跟踪转化控制系统的镇定问题,从而获得欠驱动水面艇的控制模型。采用干扰观测器实时观测外界未知干扰进行补偿控制,有效抑制了风、浪、流时变干扰的影响。设计了Backstepping+有限时间控制律,采用 Lya‐punov稳定性定理保证误差一致有界,提高系统鲁棒性和收敛性。仿真结果表明,所设计的控制器能够实现欠驱动船舶对直线路径的精确跟踪,且具有较强的鲁棒性。
針對存在風、浪、流時變榦擾的三自由度欠驅動水麵船舶軌跡跟蹤問題,根據有限時間控製對繫統的不確定性和外界榦擾具有魯棒性的特點,提齣瞭一種基于有限時間和Backstepping複閤的非線性控製方案。對欠驅動水麵艇運動學和動力學建模,通過簡化將航跡跟蹤轉化控製繫統的鎮定問題,從而穫得欠驅動水麵艇的控製模型。採用榦擾觀測器實時觀測外界未知榦擾進行補償控製,有效抑製瞭風、浪、流時變榦擾的影響。設計瞭Backstepping+有限時間控製律,採用 Lya‐punov穩定性定理保證誤差一緻有界,提高繫統魯棒性和收斂性。倣真結果錶明,所設計的控製器能夠實現欠驅動船舶對直線路徑的精確跟蹤,且具有較彊的魯棒性。
침대존재풍、랑、류시변간우적삼자유도흠구동수면선박궤적근종문제,근거유한시간공제대계통적불학정성화외계간우구유로봉성적특점,제출료일충기우유한시간화Backstepping복합적비선성공제방안。대흠구동수면정운동학화동역학건모,통과간화장항적근종전화공제계통적진정문제,종이획득흠구동수면정적공제모형。채용간우관측기실시관측외계미지간우진행보상공제,유효억제료풍、랑、류시변간우적영향。설계료Backstepping+유한시간공제률,채용 Lya‐punov은정성정리보증오차일치유계,제고계통로봉성화수렴성。방진결과표명,소설계적공제기능구실현흠구동선박대직선로경적정학근종,차구유교강적로봉성。
Considering the model parametric uncertainties and time‐varying disturbances induced by wave ,wind and ocean‐current in the trajectory tracking control of a 3 degree‐of‐freedom underactuated surface vessel (USV) ,a novel nonlinear finite time control law is designed in view of the finite time control robustness in anti‐system uncertainties and environmental disturbances .The path following problem of the underactuated system is transformed into stabilization problem of the nonlinear system by simplified analysis of the USV system .The disturbance observer is designed for real‐time control w hich compensates the unknow n disturbance that effectively restrain the interference of time varying wind ,wave and flow .The backstepping combined with finite time control law is proposed .The error is ensured to be uniformly bounded by Lyapunov stability theorem .System robustness and conver‐gence are improved .Simulation results are provided to demonstrate effectiveness of the method .