多艘拖轮协助大型船舶靠泊的编队控制方法
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摘要
为了研究多艘拖轮协助欠驱动大型船舶靠泊的控制,提出了一种采用拖轮编队来解决大型船舶靠泊问题的控制方法.在拖轮的水动力学模型中,将大型船舶对拖轮的反作用力视为未知输入,给出了一种干扰估计误差方程和原状态方程形成互联系统的干扰观测器.该干扰观测器使得拖轮速度实际值与期望值误差能够快速收敛.在干扰观测器的基础上给出了拖轮编队控制器设计,并分析了闭环系统的稳定性.仿真结果验证了该方法的有效性.
This paper addresses the control for multiple tugboats assisting the under-actuated large ship berthing.The control method is proposed for the large ship berthing by using tugboatsformation.Inthetugboats hydrodynamics model,reaction forces produced by the large ship are seen as the unknown input.The disturbance observers are given such that interconnected systems composed by disturbanceestimated error equations and original state equations are produced.These disturbance observers can accelerate the convergence of tugboats actual velocities and expected velocities.Then,based on them,the design of the tugboats formation controllers is given,and the stability of the closed-loop systems is analyzed.The simulation result shows that the method is effective.
This paper addresses the control for multiple tugboats assisting the under-actuated large ship berthing.The control method is proposed for the large ship berthing by using tugboatsformation.Inthetugboats hydrodynamics model,reaction forces produced by the large ship are seen as the unknown input.The disturbance observers are given such that interconnected systems composed by disturbanceestimated error equations and original state equations are produced.These disturbance observers can accelerate the convergence of tugboats actual velocities and expected velocities.Then,based on them,the design of the tugboats formation controllers is given,and the stability of the closed-loop systems is analyzed.The simulation result shows that the method is effective.
引文
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[20] BIDIKLI B,TATLICIOGLU E,ZERGEROGLU E.Robust dynamic positioning of surface vessels via multiple unidirectional tugboats[J].Ocean Engineering,2016,113(3):237-245.
[21]CHEN W H,YANG J,GUO L,et al.Disturbanceobserver-based control and related methods:an overview[J].IEEE Transactions on Industrial Electronics,2016,63(2):1083-1095.
[22] DUAN Z S,WANG J Z,HUANG L.Special decentralized control problems in discrete-time interconnected systems composed of two subsystems[J].Systems&Control Letters,2007,56(3):206-214.
[23] DUAN Z S,WANG J Z,CHEN G R,et al.Stability analysis and decentralized control of a class of complex dynamical networks[J].Automatica,2008,44(4):1028-1035.
[24]陈成,何玉庆,卜春光,等.基于四阶贝塞尔曲线的无人车可行轨迹规划[J].自动化学报,2015,41(3):486-496.
[25] FOSSEN T I,STRAND J P.A tutorial on nonlinear backstepping:applications to ship control[J].Modeling,Identification and Control,1999,20(2):83-134.
[2] THORVALDSEN C F L,SKJETNE R.Formation control of fully-actuated marine vessels using group agreement protocols[C]∥Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference.Orlando:IEEE,2011:4132-4139.
[3] BREIVIK M,HOVSTEIN V E,FOSSEN T I.Ship formation control:aguided leader-follower approach[C]∥Proceedings of the 17th IFAC World Congress.Seoul:IFAC,2008:16008-16014.
[4]王昊,王丹,彭周华,等.多自主船协同路径跟踪的自适应动态面控制[J].控制理论与应用,2013,30(5):637-643.
[5] XIANG X B,LAPIERRE L,JOUVENCEL B,et al.Coordinatedpathfollowingcontrolofmultiple nonholonomic vehicles[C]∥Proceedings of Oceans'09.Bremen:IEEE,2009:1-7.
[6] CUI R,GE S S,HOW B V E,et al.Leader-follower formation control of underactuated autonomous underwater vehicles[J].Ocean Engineering,2010,37(9):1491-1502.
[7] PENG Z H,WANG D,CHEN Z Y,et al.Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics[J].IEEE Transcations on Control Systems Technology,2013,21(2):513-520.
[8] PEYMANI E,FOSSEN T I.Leader-follower formation of marine craft using constraint forces and lagrange multipliers[C]∥Proceedings of the 51st IEEE Conference on Decision and Control.[S.l.]:IEEE,2012,2447-2452.
[9]夏盈盈,孙洪飞.基于循环追踪的船舶圆形编队控制[J].厦门大学学报(自然科学版),2015,54(1):93-98.
[10] HASEGAWA K,KITERA K.Mathematical model of manoeuvrability at low advance speed and its application to berthing control[C]∥Proceedings of the 2nd JapanKorea Joint Workshop on Ship and Marine Hydrodynamics.Nantes:Oceans,1993:144-153.
[11] IM N,LEE S K,BANG H D.An application of ann to automatic ship berthing using selective controller[J].International Journal on Marine Navigation and Safety of Sea Transportation,2007,1(1):101-105.
[12] BUI V P,KIM Y B,YONG W C,et al.A study on automatic ship berthing system design[C]∥Proceedings of the 2009IEEE International Conference on Networking,Sensing and Control.Okayama:IEEE,2009:181-184.
[13] AHMED YA,HASEGAWA K.Experiment results for automatic ship berthing using artificial neural network based controller[C]∥Proceedings of the 19th IFAC World Congress.Oxford:IFAC-Elsevier Ltd,2014:2658-2663.
[14]杜佳璐,杨杨,郭晨.基于高增益观测器的船舶动力定位系统的输出反馈控制[J].控制理论与应用,2013,30(11):1486-1491.
[15] DU J,HU X,KRSTIC'M,et al.Robust dynamic positioning of ships with disturbances under input saturation[J].Automatica,2016,73(11):207-214.
[16] ESPOSITO J,FEEMSTER M,SMITH E.Cooperative manipulation on the water using a swarm of autonomous tugboats[C]∥Proceedings of the 2008IEEE International Conference on Robotics&Automation.Pasadena:IEEE,2008:1501-1506.
[17] BUI V P,KAWAI H,KIM Y B,et al.A ship berthing system design with four tug boats[J].Journal of Mechanical Science&Technology,2011,25(5):1257-1264.
[18] JI S W,BUI V P,BALACHANDRAN B,et al.Robust control allocation design for marine vessel[J].Ocean Engineering,2013,63(3):105-111.
[19] BIDIKLI B,TATLICIOGLU E,ZERGEROGLU E.Robust control design for positioning of an unactuated surface vessel[C]∥Proceedings of the 2015IEEE/RSJ International Conference on Intelligent Robots and Systemss.Hamburg:IEEE,2015:1071-1076.
[20] BIDIKLI B,TATLICIOGLU E,ZERGEROGLU E.Robust dynamic positioning of surface vessels via multiple unidirectional tugboats[J].Ocean Engineering,2016,113(3):237-245.
[21]CHEN W H,YANG J,GUO L,et al.Disturbanceobserver-based control and related methods:an overview[J].IEEE Transactions on Industrial Electronics,2016,63(2):1083-1095.
[22] DUAN Z S,WANG J Z,HUANG L.Special decentralized control problems in discrete-time interconnected systems composed of two subsystems[J].Systems&Control Letters,2007,56(3):206-214.
[23] DUAN Z S,WANG J Z,CHEN G R,et al.Stability analysis and decentralized control of a class of complex dynamical networks[J].Automatica,2008,44(4):1028-1035.
[24]陈成,何玉庆,卜春光,等.基于四阶贝塞尔曲线的无人车可行轨迹规划[J].自动化学报,2015,41(3):486-496.
[25] FOSSEN T I,STRAND J P.A tutorial on nonlinear backstepping:applications to ship control[J].Modeling,Identification and Control,1999,20(2):83-134.