控制方向未知的无人帆船自适应动态面航向控制
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摘要
针对四自由度无人帆船存在模型不确定、控制方向和外部环境扰动均未知的情况,本文提出一种神经网络自适应动态面航向控制方法。该方法采用RBF神经网络逼近无人帆船模型不确定部分,利用Nussbaum函数处理系统的未知控制增益函数,并设计σ-修正泄露项的参数自适应律对神经网络逼近误差与外界环境扰动总和的界进行估计,同时引入动态面方法,消除反演法中的"计算膨胀"问题,降低控制器的复杂性。Lyapunov函数稳定性分析证明所设计控制器能够保证航向保持闭环系统内所有信号的一致最终有界性,并通过一艘12 m型无人帆船模型进行仿真验证。结果表明:无人帆船航向保持响应速度快,所设计的控制器能有效地处理模型不确定项和风浪等外界扰动,具有较强的鲁棒性。
A neural network-based adaptive dynamic surface course control method is proposed for cases of 4 degrees of freedom( DOF) unmanned sailboat model uncertainty,whereby both the control direction and the external environmental disturbances are unknown. In this strategy,the neural network was used to approximate the model's uncertainty. The problem of unknown control gain was properly solved by using the Nussbaum gain function. The adaptive laws based on the leakage term,σ-modification was used to estimate the bounds of neural network errors and unknown external environmental disturbances. Additionally,dynamic surface control technique was introduced to eliminate the "computational expansion"problem of the backstepping method. The stability analysis of the Lyapunov function proved that all signals of the resulting closed-loop system can be guaranteed with the uniformly ultimate boundedness of the proposed controller. Simulation results based on a 12 m unmanned sailboat model showed that the unmanned sailboat course-keeping response speed was fast,and the design controller had strong robustness against the system model's uncertainty,wind,flow,and other external disturbances.
A neural network-based adaptive dynamic surface course control method is proposed for cases of 4 degrees of freedom( DOF) unmanned sailboat model uncertainty,whereby both the control direction and the external environmental disturbances are unknown. In this strategy,the neural network was used to approximate the model's uncertainty. The problem of unknown control gain was properly solved by using the Nussbaum gain function. The adaptive laws based on the leakage term,σ-modification was used to estimate the bounds of neural network errors and unknown external environmental disturbances. Additionally,dynamic surface control technique was introduced to eliminate the "computational expansion"problem of the backstepping method. The stability analysis of the Lyapunov function proved that all signals of the resulting closed-loop system can be guaranteed with the uniformly ultimate boundedness of the proposed controller. Simulation results based on a 12 m unmanned sailboat model showed that the unmanned sailboat course-keeping response speed was fast,and the design controller had strong robustness against the system model's uncertainty,wind,flow,and other external disturbances.
引文
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[12]李铁山,邹早建,罗伟林.基于DSC后推法的非线性系统的鲁棒自适应NN控制[J].自动化学报,2008,34(11):1424-1430.LI Tieshan,ZOU Zaojian,LUO Weilin. DSC-backstepping based robust adaptive NN control for nonlinear systems[J]. Acta automatica sinica,2008,34(11):1424-1430.
[13]NUSSBAUM R D. Some remarks on a conjecture in parameter adaptive control[J]. Systems&control letters,1983,3(5):201-210.
[14]田佰军,刘正江,郑云峰.控制方向未知条件下不确定船舶航向鲁棒λ调节控制[J].控制与决策,2016,31(11):2059-2064.TIAN Baijun,LIU Zhengjiang,ZHENG Yunfeng. Robustλadaptive control for uncertain ship course keeping with unknown control direction[J]. Control and decision,2016,31(11):2059-2064.
[15]SWAROOP D,HEDRICK J K,YIP P P,et al. Dynamic surface control for a class of nonlinear systems[J]. IEEE transactions on automatic control, 2000, 45(10):1893-1899.
[16]沈智鹏,代昌盛.欠驱动船舶路径跟踪的强化学习迭代滑模控制[J].哈尔滨工程大学学报,2017,38(5):697-704.SHEN Zhipeng,DAI Changsheng. Iterative sliding mode control based on reinforced learning and used for path tracking of under-actuated ship[J]. Journal of Harbin Engineering University,2017,38(5):697-704.
[17]RYAN E P. A universal adaptive stabilizer for a class of nonlinear systems[J]. Systems&control letters,1991,16(3):209-218.
[18]CORNO M,FORMENTIN S,SAVARESI S M. Data-driven online speed optimization in autonomous sailboats[J].IEEE transactions on intelligent transportation systems,2016,17(3):762-771.
[2]EMAMI T,HARTNETT R J,WATKINS J M. Estimate of discrete-time PID controller parameters for H-infinity complementary sensitivity design:Autonomous sailboat application[C]//2013 American Control Conference. Washington,DC,USA:IEEE,2013:1795-1801.
[3]葛艳,孟庆春,张文,等.帆船的模糊自适应控制方法研究[J].哈尔滨工业大学学报,2005,37(12):1658-1660,1742.GE Yan,MENG Qingchun,ZHANG Wen,et al. Research on fuzzy adaptive control method of a sailboat[J]. Journal of Harbin Institute of Technology,2005,37(12):1658-1660,1742.
[4]杨承恩,毕英君.用神经网络控制器对小型帆船的航向控制[J].中国造船,2004,45(1):25-32.YANG Cheng'en,BI Yingjun. Application of a neural network adaptive autopilot for a yacht[J]. Shipbuilding of China,2004,45(1):25-32.
[5]SAOUD H,HUA M D,PLUMET F,et al. Routing and course control of an autonomous sailboat[C]//2015 European Conference on Mobile Robots. Lincoln,UK:IEEE,2015:1-6.
[6]SAOUD H,HUA M D,PLUMET F,et al. Modeling and control design of a robotic sailboat[C]//Proceedings of the6th International Robotic Sailing Conference Robotic Sailing2013. Gloucester,Massachusetts,2013:95-110.
[7]WILLE K L,HASSANI V,SPRENGER F. Modeling and course control of sailboats[C]//10th IFAC Conference on Control Applications in Marine Systems. Trondheim,Norway,2016:532-539.
[8]耿宝亮,胡云安,李静,等.控制增益为未知函数的不确定系统预设性能反演控制[J].自动化学报,2014,40(11):2521-2529.GENG Baoliang,HU Yun'an,LI Jing,et al. Prescribed performance backstepping control of uncertain systems with unknown control gains[J]. Acta automatica sinica,2014,40(11):2521-2529.
[9]张元涛,石为人,邱明伯.一类不确定非线性系统的参数自适应滑模控制[J].华中科技大学学报(自然科学版),2011,39(5):79-82.ZHANG Yuantao,SHI Weiren,QIU Mingbo. Parameter adaptive sliding mode control for a class of uncertain nonlinear systems[J]. Journal of Huazhong University of Science and Technology(natural science edition),2011,39(5):79-82.
[10]张伟,毛剑琴.基于模糊树模型的自适应模糊滑模控制方法[J].控制理论与应用,2010,27(2):263-268.ZHANG Wei,MAO Jianqin. Adaptive fuzzy sliding-mode control method based on fuzzy tree model[J]. Control theory&applications,2010,27(2):263-268.
[11]CHEN Jie,ZHAO Hongchao,LIANG Yong. Unknown control direction hypersonic aircraft adaptive fault-tolerant control[C]//2012 24th Chinese Control and Decision Conference. Taiyuan:IEEE,2012:309-314.
[12]李铁山,邹早建,罗伟林.基于DSC后推法的非线性系统的鲁棒自适应NN控制[J].自动化学报,2008,34(11):1424-1430.LI Tieshan,ZOU Zaojian,LUO Weilin. DSC-backstepping based robust adaptive NN control for nonlinear systems[J]. Acta automatica sinica,2008,34(11):1424-1430.
[13]NUSSBAUM R D. Some remarks on a conjecture in parameter adaptive control[J]. Systems&control letters,1983,3(5):201-210.
[14]田佰军,刘正江,郑云峰.控制方向未知条件下不确定船舶航向鲁棒λ调节控制[J].控制与决策,2016,31(11):2059-2064.TIAN Baijun,LIU Zhengjiang,ZHENG Yunfeng. Robustλadaptive control for uncertain ship course keeping with unknown control direction[J]. Control and decision,2016,31(11):2059-2064.
[15]SWAROOP D,HEDRICK J K,YIP P P,et al. Dynamic surface control for a class of nonlinear systems[J]. IEEE transactions on automatic control, 2000, 45(10):1893-1899.
[16]沈智鹏,代昌盛.欠驱动船舶路径跟踪的强化学习迭代滑模控制[J].哈尔滨工程大学学报,2017,38(5):697-704.SHEN Zhipeng,DAI Changsheng. Iterative sliding mode control based on reinforced learning and used for path tracking of under-actuated ship[J]. Journal of Harbin Engineering University,2017,38(5):697-704.
[17]RYAN E P. A universal adaptive stabilizer for a class of nonlinear systems[J]. Systems&control letters,1991,16(3):209-218.
[18]CORNO M,FORMENTIN S,SAVARESI S M. Data-driven online speed optimization in autonomous sailboats[J].IEEE transactions on intelligent transportation systems,2016,17(3):762-771.