摘要
针对欠驱动船舶的曲线航迹跟踪问题,首先采用自抗扰控制技术,通过扩张状态观测器实时估计和补偿系统的内部和外界扰动,将非线性快速终端滑模引入误差反馈控制环节,并采用幂指数趋近律,设计出快速终端滑模-自抗扰控制律,提高系统的收敛速度和误差跟踪精度,减小系统的抖振;然后对野本船舶模型简化变形,构造降维方程,将航迹跟踪问题转化为航向镇定问题。Simulink仿真结果表明,控制器能够实现船舶对期望曲线航迹的快速、精确跟踪,具有良好控制效果。
This paper adopts extended states observer in active disturbance rejection controller to estimate and compensate the internal and external disturbances in real time, which is specific to curve-path tracking problem of underactuated surface vessel. Nonsingular fast terminal sliding mode combined with power exponential reaching law are introduced to nonsingular state error feedback to design FTSM-ADRC control law, which improve the convergence speed and steady-state tracking accuracy of the system and reduce the chattering. Finally, designing a dimension reduction equation, the complic- ated path following is changed to the simple heading stabilization. Simulation results verify that the controller can follow an expected curve-path fast and accurately, and with good effect.
出处
《舰船科学技术》
北大核心
2016年第8期57-61,共5页
Ship Science and Technology
基金
国家自然科学基金资助项目(51179019)
辽宁省教育厅重点实验室项目(LZ2015006)
中央高校基本科研业务费专项资金资助项目(3132014022)
关键词
欠驱动船舶
幂指数趋近律
快速终端滑模
自抗扰控制
曲线航迹跟踪
underactuated vessel
power exponential reaching law
fast terminal sliding mode
active disturbance rejection control
curve-path tracking
