欠驱动水面船舶的有限时间航迹跟踪控制

发布时间：2018-02-09 18:20

本文关键词： 欠驱动水面船舶跟踪控制有限时间稳定性终端滑模控制辅助滑模面奇异问题　出处：《哈尔滨工程大学学报》2017年05期 　论文类型：期刊论文

【摘要】：针对欠驱动水面船舶的快速航迹跟踪控制问题,本文设计了一种基于终端滑模控制方法的分散控制器。通过引入辅助线性滑模面进行切换控制,避免了传统终端滑模面中状态可能为零而导致控制无穷大的奇异问题,且使欠驱动水面船舶能够在有限时间内快速跟踪并保持期望的轨迹。本文结合有限时间稳定性理论证明了终端滑模控制方法具有限时间收敛作用这一特性;借助Lyapunov稳定性理论证明了闭环系统的稳定性。仿真结果表明:该算法控制效果良好,且对外界环境干扰具有一定的鲁棒性能。
[Abstract]:Aiming at the problem of fast track tracking control for underactuated surface ships, a decentralized controller based on terminal sliding mode control method is designed in this paper. It avoids the singular problem of controlling infinity in the traditional terminal sliding mode surface where the state may be zero. Moreover, the underactuated surface ship can track and keep the desired trajectory quickly in a finite time. Combined with the theory of finite time stability, this paper proves that the terminal sliding mode control method has the characteristic of finite-time convergence. The stability of the closed-loop system is proved by the Lyapunov stability theory. The simulation results show that the algorithm has good control effect and robustness to the external environment disturbance.
【作者单位】：大连海事大学航海学院;
【基金】：国家自然科学基金项目(51179019,61374114) 辽宁省教育厅重点实验室基础项目(LZ2015006) 中央高校基本科研业务费项目(3132016313,3132016311)
【分类号】：TP273;U664.82

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