基于航向控制的欠驱动船舶曲线航迹控制
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摘要
针对无人操纵船舶的曲线航迹跟踪控制问题中,大多数控制器都采用带有时间参数t的航迹表示法的情况,设定一种新的与时间无关的航迹路径表示方法。通过引入偏航误差,得到期望航向角的补偿值,并以此消除航迹控制中的偏航误差,达到曲线航迹控制的目的。并采用滑模控制以及模糊S面的思想,提出一种基于航向控制的曲线航迹控制方法。仿真结果说明该航迹表示法的可行性,以及控制律的有效性。
In the curve tracking control of an unmanned vessel,most of the controllers use the tracking presentation with the time parameter 't'. A new tracking presentation without the time was designed. By introducing the definition of yaw error,the compensation value of the desired heading angle can be achieved,the yaw error in tracking control can be eliminated therefore,so as to achieve the goal of controlling curve track. In addition,the idea of slidingmode control and generalized S-plane controller was used to present a curve tracking control way based on heading control. Simulation results demonstrated the feasibility of the tracking presentation and the effectiveness of the controller.
In the curve tracking control of an unmanned vessel,most of the controllers use the tracking presentation with the time parameter 't'. A new tracking presentation without the time was designed. By introducing the definition of yaw error,the compensation value of the desired heading angle can be achieved,the yaw error in tracking control can be eliminated therefore,so as to achieve the goal of controlling curve track. In addition,the idea of slidingmode control and generalized S-plane controller was used to present a curve tracking control way based on heading control. Simulation results demonstrated the feasibility of the tracking presentation and the effectiveness of the controller.
引文
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[14]王耀禄.欠驱动船舶轨迹跟踪滑模非线性控制研究[D].大连:大连海事大学,2015.
[2]曾薄文,朱齐丹,于瑞亭.欠驱动水面船舶的曲线航迹跟踪控制[J].哈尔滨工程大学学报,2011,32(10):1317-1322.
[3]杨树仁.船舶航迹控制算法的研究与仿真[D].长春:吉林大学,2014.
[4]JIANG Zhongping.Global tracking control of underactuated ships by Lyapunov’s direct method[J].Automatica,2002,38(2):301-309.
[5]程金.水面船舶的非线性控制研究[D].北京:中国科学院自动化研究所,2007:1-95.
[6]FOSSEN T I,LEKKAS A M.Direct and indirect adaptive integral line-of-sight path-following controllers for marine craft exposed to ocean currents[J].International journal of adaptive control and signal processing,2017,31(4):445-463.
[7]DO K D.Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances[J].Ocean engineering,2016,111:267-278.
[8]DO D,PAN Jie.Robust and adaptive path following for underactuated autonomous underwater vehicles[C]//Proceedings of the American Control Conference.Denver,CO,USA:IEEE,2003:1994-1999.
[9]LEFEBER E,PETTERSEN K Y,NIJMEIJER H.Tracking control of an underactuated ship[J].IEEE transactions on control systems technology,2003,11(1):52-61.
[10]ASHRAFIUON H,MUSKE K R,MCNINCH L C,et al.Sliding-mode tracking control of surface vessels[J].IEEE transactions on industrial electronics,2008,55(11):4004-4012.
[11]王建国,吴恭兴,万磊,等.广义S面的水下机器人控制器设计[J].电机与控制学报,2009,13(S1):144-148.
[12]FAHIMI F.Sliding-mode formation control for underactuated surface vessels[J].IEEE transactions on robotics,2007,23(3):617-622.
[13]秦梓荷,林壮,李平,等.基于LOS导航的欠驱动船舶滑模控制[J].中南大学学报:自然科学版,2016,47(10):3605-3611.
[14]王耀禄.欠驱动船舶轨迹跟踪滑模非线性控制研究[D].大连:大连海事大学,2015.