摘要
针对航行补给作业的补给船同步航行控制问题,考虑了补给船动态不确定性和未知时变环境扰动,将扰动观测器和矢量逆推方法相结合,设计了补给船鲁棒同步航行控制律.在被补给船的某一舷外引入与其航迹距离相对固定的虚拟航迹,构造扰动观测器,估计由船舶动态不确定性和时变扰动构成的复合扰动;采用矢量逆推方法,设计补给船鲁棒同步航行控制律,使补给船能够以任意小的误差跟踪虚拟航迹,从而实现补给船与被补给船的同步航行,并保证补给船航迹闭环控制系统中所有信号全局一致最终有界.基于一艘补给船的仿真研究结果及比较验证了所提出的补给船同步航行控制律的有效性和低保守性.
For the synchronous navigation control problem of the supply ship in the underway replenishment,in the presence of ship dynamics uncertainties and unknown time-varying disturbances, a robust synchronization control law was proposed through combining the disturbance observer with the vectorial backstepping method.A virtual trajectory locating on one side of the supplied ship with a relatively fixed distance from the trajectory of the supplied ship was introduced. The disturbance observer was constructed to estimate the compound disturbances induced by ship dynamics uncertainties and unknown time-varying disturbances.By using the vectorial backstepping method,a robust synchronization control law was designed to make the supply ship track the virtual trajectory with arbitrarily small errors and hence realize the synchronous navigation between the supply and the supplied ships,while guaranteeing the global uniform ultimate boundedness of all signals in the supply ship trajectory closed-loop control system. Simulation results on a supply ship and simulation comparisons demonstrate the effectiveness and the low conservativeness of our proposed synchronous navigation control law.
作者
胡鑫
刘永超
杜佳璐
Hu Xin Liu Yongchao Du Jialu(Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, Chin)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2018年第2期61-66,共6页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(51079013,51579026)
辽宁省高等学校优秀人才支持计划资助项目(LR2015007)
国家人社部留学人员科技活动择优资助项目
中央高校基本科研业务费专项资金资助项目(3132017302)
关键词
船舶航行补给
鲁棒同步控制
虚拟航迹
扰动观测器
矢量逆推
underway replenishment of ships
robust synchronization control
virtual trajectory
disturbance observer
vectorial backstepping
