摘要
针对具有输入饱和限制的非线性不确定动力定位船设计了一种基于扰动观测器的终端滑模(TSM)航迹跟踪控制算法。首先,为解决系统时变外部干扰与模型参数不确定问题,设计了一种终端滑模干扰观测器,该观测器可以保证所得到的估计误差在有限时间内收敛到零,进而提出了一种基于扰动观测器的终端滑模航迹跟踪控制律,该控制律可以保证动力系统在不确定输出上下界情况下给出合理的控制指令,并利用有限时间Lyapunov稳定性理论证明了在所设计的控制律下闭环系统所有状态在有限时间内收敛。最后,动力定位船舶的航迹跟踪控制仿真试验研究验证了该控制算法的有效性。
In this paper, a terminal sliding mode tracking（TSM） control scheme with a disturbance observer is presented for a dynamic positioning vessel. First for the unmeasured external disturbance and uncertain model parameters, a terminal sliding mode disturbance observer is proposed, which can guarantee the estimated error converging to zero in finite time. A terminal sliding mode tracking control method based on the output of the designed observer is proposed. The controller can guarantee that the dynamic system can give a rational control instruction in the case of the output with unknown upper and lower bound. Lyapunov stability analysis proves all closed-loop signals converging to the equilibrium in finite time. The proposed algorithm is validated through simulation examples for the tracking control of the dynamic positioning vessel.
出处
《中国造船》
EI
CSCD
北大核心
2015年第4期33-45,共13页
Shipbuilding of China
基金
高技术船舶科研项目(Z12SJENA0011)
国家科技重大专项子课题(20011ZX05027-002)
