Non-singular terminal sliding mode heading control of surface vehicles
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- 英文论文题名：Non-singular terminal sliding mode heading control of surface vehicles
- 论文作者：Zhenyu Gao ; Ge Guo ; Bo Zhang
- 英文论文作者：Zhenyu Gao ; Ge Guo ; Bo Zhang ; College of Information Science and Technology ; Dalian Maritime University ; Control Science and Engineering ; Dalian University of Technology
- 年：2017
- 作者机构：College of Information Science and Technology,Dalian Maritime University;Control Science and Engineering,Dalian University of Technology;
- 英文论文关键词：Surface vehicles ; Heading control ; Non-singular terminal mode control ; Global finite-time stability
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273;U664.82
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：187k
- 原文格式：D
- 会议级别：全国
摘要
This paper studies the heading control of surface vehicles. A novel non-singular terminal sliding mode controller is developed guaranteeing that the vehicle can track the disired heading. Contrasting to the conventional terminal sliding mode control, the proposed algorithm can eliminate of the singularity problem. The proposed controller, not only, can take the vehicle convergence to the desired heading, but also, can guarantee the time taken to reach the equilibrium point from any initinal state in finite time. The effectiveness and efficiency of the proposed control approach are demonstrated by simulation and comparision studies.
This paper studies the heading control of surface vehicles. A novel non-singular terminal sliding mode controller is developed guaranteeing that the vehicle can track the disired heading. Contrasting to the conventional terminal sliding mode control, the proposed algorithm can eliminate of the singularity problem. The proposed controller, not only, can take the vehicle convergence to the desired heading, but also, can guarantee the time taken to reach the equilibrium point from any initinal state in finite time. The effectiveness and efficiency of the proposed control approach are demonstrated by simulation and comparision studies.
This paper studies the heading control of surface vehicles. A novel non-singular terminal sliding mode controller is developed guaranteeing that the vehicle can track the disired heading. Contrasting to the conventional terminal sliding mode control, the proposed algorithm can eliminate of the singularity problem. The proposed controller, not only, can take the vehicle convergence to the desired heading, but also, can guarantee the time taken to reach the equilibrium point from any initinal state in finite time. The effectiveness and efficiency of the proposed control approach are demonstrated by simulation and comparision studies.
引文
[1]Yan Yansheng,Jia Xinle.Design for ship autopilot using variable structure control algorithm,Journal of Dalian Maritime University vol.24,no.1,pp.13-17,1998.
[2]Bu Renxiang,Liu Zhengjiang,Li Tieshan.Nonlinear iterative sliding mode-PID control and its application to ship autopilot Journal of Dalian Maritime University,vol.32,no.2,pp.9-11,2006.
[3]Wang Xingcheng,Jiang Xiaohong,Zhang Jian.Nonlinear Backstepping Design of Ship Steering Controller Control Engineering of China,vol.9,no.5,pp.163-65,2002.
[4]Lin Yongyi,Du Jialu,Niu Jie.Design of Backstepping based adaptive robust nonlinear controller of ship course,SHIP ENGINEERING.vol.29,no.1,pp.24-27,2007.
[5]Yu Fengwei.Course Tracking Control Based on Backstepping Algorithm Ship Electronic Engineering,vol.26,no.6,pp.64-66,2006.
[6]Zhang Songtao,Ren Guang.Fuzzy adaptive control for ship steering autopilot based on backstepping technique Journal of T raffic and Transportation Engineering,vol.5,no.4,pp.72-75,2005.
[7]Lv Jin,Guo Chen.Neural Network-based Parallel Robust Model Reference Control Method of Ship Course Journal of System Simulation,vol.19,no.15,pp.3489-3493,2007.
[8]Ning Wang,Shuailin Lv,Zhongzhong Liu.Global finite-time heading control of surface vehicles Neurocomputing,vol.175,pp.662-666,2016.
[9]Wu Y Q,Yu X H,Man Z H.Terminal sliding mode control design for uncertain dynamic systems.Systems and Control Letters.vol.34,no.5,pp.281-288,1998
[10]Yong Fenga,Xinghuo Yub,Zhihong Man.Non-singular terminal sliding mode control of rigid manipulators Automatica,vol.38,no.12,pp.2159-2167,2002.
[11]S.H.Li,X.Y.Wang,L.J.Zhang.Finite-time output feedback tracking control for autonomous underwater vehicles Ocean Engineering,vol.40,no.3,pp.727-751,2015.
[12]B.Zhang,Y.M.Jia,J.P.Du,J.Zhang.Finite-time consensus control for multiple manipulators with unmodeled dynamics,in:Proceedings of American Control Conference,2013,pp.5380-5385
[2]Bu Renxiang,Liu Zhengjiang,Li Tieshan.Nonlinear iterative sliding mode-PID control and its application to ship autopilot Journal of Dalian Maritime University,vol.32,no.2,pp.9-11,2006.
[3]Wang Xingcheng,Jiang Xiaohong,Zhang Jian.Nonlinear Backstepping Design of Ship Steering Controller Control Engineering of China,vol.9,no.5,pp.163-65,2002.
[4]Lin Yongyi,Du Jialu,Niu Jie.Design of Backstepping based adaptive robust nonlinear controller of ship course,SHIP ENGINEERING.vol.29,no.1,pp.24-27,2007.
[5]Yu Fengwei.Course Tracking Control Based on Backstepping Algorithm Ship Electronic Engineering,vol.26,no.6,pp.64-66,2006.
[6]Zhang Songtao,Ren Guang.Fuzzy adaptive control for ship steering autopilot based on backstepping technique Journal of T raffic and Transportation Engineering,vol.5,no.4,pp.72-75,2005.
[7]Lv Jin,Guo Chen.Neural Network-based Parallel Robust Model Reference Control Method of Ship Course Journal of System Simulation,vol.19,no.15,pp.3489-3493,2007.
[8]Ning Wang,Shuailin Lv,Zhongzhong Liu.Global finite-time heading control of surface vehicles Neurocomputing,vol.175,pp.662-666,2016.
[9]Wu Y Q,Yu X H,Man Z H.Terminal sliding mode control design for uncertain dynamic systems.Systems and Control Letters.vol.34,no.5,pp.281-288,1998
[10]Yong Fenga,Xinghuo Yub,Zhihong Man.Non-singular terminal sliding mode control of rigid manipulators Automatica,vol.38,no.12,pp.2159-2167,2002.
[11]S.H.Li,X.Y.Wang,L.J.Zhang.Finite-time output feedback tracking control for autonomous underwater vehicles Ocean Engineering,vol.40,no.3,pp.727-751,2015.
[12]B.Zhang,Y.M.Jia,J.P.Du,J.Zhang.Finite-time consensus control for multiple manipulators with unmodeled dynamics,in:Proceedings of American Control Conference,2013,pp.5380-5385