欠驱动船舶轨迹跟踪控制设计
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摘要
针对常规水面船舶具有二阶非完整约束的特点,利用动态非线性滑模分解迭代设计结合增量反馈方法,解除了要求参考航向已知和角速度持续激励的限制条件,并且无需对不确定模型参数或风、流干扰进行估计;通过对跟踪偏差进行输入输出解耦,设计了输出反馈控制器,在仅有平面轨迹和船位已知条件下可完成欠驱动船舶的轨迹跟踪。应用"育龙"轮的非线性水动力模型进行了仿真,结果表明输出反馈控制器能够有效进行圆弧和正弦的曲线轨迹跟踪,并且对外界干扰不敏感,具有强鲁棒性。验证了设计的控制算法能有效解决模型参数不确定以及外界风流干扰未知的难点问题,具有很强的实践应用价值。
The conventional surface ships are of second order nonholonomic constraints characteristic. An output feedback algorithm was developed using decoupling control method and increment feedback based on iterative nonlinear sliding mode designing approach. The estimation of systemic uncertainty and disturbances and the yaw velocity PE(persistent excitation) conditions are not required. With the known reference trajectory and measured position, the underactuated tracking control objective was achieved without the reference orientation to be generated based on a ship model. Computer simulation results on a full nonlinear hydrodynamic ship model of M.V. YULONG were provided to validate the effectiveness and robustness of the proposed controller in circle and sinusoidal reference tracking. The result of simulation shows that the designed algorithm can solve the problem of systemic uncertainty and unknown external disturbances. This has great applied value to the practice.
The conventional surface ships are of second order nonholonomic constraints characteristic. An output feedback algorithm was developed using decoupling control method and increment feedback based on iterative nonlinear sliding mode designing approach. The estimation of systemic uncertainty and disturbances and the yaw velocity PE(persistent excitation) conditions are not required. With the known reference trajectory and measured position, the underactuated tracking control objective was achieved without the reference orientation to be generated based on a ship model. Computer simulation results on a full nonlinear hydrodynamic ship model of M.V. YULONG were provided to validate the effectiveness and robustness of the proposed controller in circle and sinusoidal reference tracking. The result of simulation shows that the designed algorithm can solve the problem of systemic uncertainty and unknown external disturbances. This has great applied value to the practice.
引文
[1] J Ghommam,et al.Global stabilization and tracking control of underactuated surface vessels[C].IET Control Theory Applications .2010。
[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):1318-1322.
[3] 孟威.欠驱动水面船舶运动的非线性控制研究[D].大连:大连海事大学,2012.
[4] 汪洋.基于动态神经模糊模型的欠驱动水面船舶运动控制[D].大连:大连海事大学,2010.
[5] Liu Zhi-lin,Yu Rui-ting,Zhu Qi-dan.Comments on "asymptotic backstepping stabilization of an underactuated surface vessel[C].IEEE Transactions on Communications,2012.
[6] K D Do and J Pan.Underactuated Ships Follow Smooth Paths With Integral Actions and Without Velocity Measurements for Feedback:Theory and Experiments[J].IEEE Transactions on Control Systems Technology,2006,14(2):308-325.
[7] 卜仁祥,刘正江,胡江强.基于动态非线性滑动模态的欠驱动船舶直线航迹控制[J] 清华大学学报(自然科学版),2007,(S2):1880-1883.
[8] 潘永平,黄道平,孙宗海.欠驱动船舶航迹Backstepping自适应模糊控制[J].控制理论与应用,2011,28(7),908-914.
[9] 廖煌霄,万磊.欠驱动船舶直线航迹的滑模控制方法[J].应用科技,2011,38(11),14-17.
[10] 于瑞亭.欠驱动水面船舶的全局镇定控制方法研究[D].哈尔滨工程大学,2012.
[11] 朱齐丹,于瑞亭,夏桂华,刘志林.风浪流干扰及参数不确定欠驱动船舶航迹跟踪的滑模鲁棒控制[J].控制理论与应用.2012,29(7):960-964.
[12] 王岩,朱齐丹,孟浩,刘志林.欠驱动船舶航迹跟踪指令滤波滑模鲁棒控制[J].电机与控制学报,2013,17(5),110-118.
[13] 李荣辉.欠驱动水面船舶航迹自抗扰控制研究[D].大连海事大学,2013.
[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):1318-1322.
[3] 孟威.欠驱动水面船舶运动的非线性控制研究[D].大连:大连海事大学,2012.
[4] 汪洋.基于动态神经模糊模型的欠驱动水面船舶运动控制[D].大连:大连海事大学,2010.
[5] Liu Zhi-lin,Yu Rui-ting,Zhu Qi-dan.Comments on "asymptotic backstepping stabilization of an underactuated surface vessel[C].IEEE Transactions on Communications,2012.
[6] K D Do and J Pan.Underactuated Ships Follow Smooth Paths With Integral Actions and Without Velocity Measurements for Feedback:Theory and Experiments[J].IEEE Transactions on Control Systems Technology,2006,14(2):308-325.
[7] 卜仁祥,刘正江,胡江强.基于动态非线性滑动模态的欠驱动船舶直线航迹控制[J] 清华大学学报(自然科学版),2007,(S2):1880-1883.
[8] 潘永平,黄道平,孙宗海.欠驱动船舶航迹Backstepping自适应模糊控制[J].控制理论与应用,2011,28(7),908-914.
[9] 廖煌霄,万磊.欠驱动船舶直线航迹的滑模控制方法[J].应用科技,2011,38(11),14-17.
[10] 于瑞亭.欠驱动水面船舶的全局镇定控制方法研究[D].哈尔滨工程大学,2012.
[11] 朱齐丹,于瑞亭,夏桂华,刘志林.风浪流干扰及参数不确定欠驱动船舶航迹跟踪的滑模鲁棒控制[J].控制理论与应用.2012,29(7):960-964.
[12] 王岩,朱齐丹,孟浩,刘志林.欠驱动船舶航迹跟踪指令滤波滑模鲁棒控制[J].电机与控制学报,2013,17(5),110-118.
[13] 李荣辉.欠驱动水面船舶航迹自抗扰控制研究[D].大连海事大学,2013.