控制饱和约束下的自主水面船编队
发布时间：2018-07-17 08:56
【摘要】：针对含模型不确定与海洋环境干扰的自主水面船编队时的控制饱和约束问题,提出了一种基于广义饱和函数的编队控制算法.首先,采用虚拟领航 跟随编队策略,并基于反步法以及更为通用的广义饱和函数设计了编队控制器,突破了采用特定饱和函数的局限性.再针对自主水面船的特点,利用单隐层神经网络对模型不确定和海洋环境干扰进行了在线逼近.然后根据Lyapouv稳定性理论证明了闭环系统所有状态的有界性,并可通过选择合适的设计参数使跟踪误差为任意小.最后,通过对比仿真结果验证了本文所提出的抗饱和编队控制算法的有效性.
[Abstract]:A formation control algorithm based on generalized saturation function is proposed to solve the control saturation constraint problem of autonomous surface ship formation with model uncertainty and marine environment disturbance. Firstly, the virtual pilotage following formation strategy is adopted, and the formation controller is designed based on the backstepping method and the more general generalized saturation function, which breaks through the limitation of using the specific saturation function. According to the characteristics of autonomous surface ship, the model uncertainty and marine environment disturbance are approximated online by single hidden layer neural network. Then according to Lyapouv stability theory, the boundedness of all states of the closed-loop system is proved, and the tracking error can be arbitrarily small by selecting appropriate design parameters. Finally, the effectiveness of the proposed anti-saturation formation control algorithm is verified by comparing the simulation results.
【作者单位】： 哈尔滨工程大学自动化学院;渤海大学自动化学院;
【基金】：国家自然科学基金项目(61503040) 国家重大专项(“深水铺管起重船及配套工程技术”项目(2011ZX05027 002))资助~~
【分类号】：U664.82
，
本文编号：2129897
[Abstract]:A formation control algorithm based on generalized saturation function is proposed to solve the control saturation constraint problem of autonomous surface ship formation with model uncertainty and marine environment disturbance. Firstly, the virtual pilotage following formation strategy is adopted, and the formation controller is designed based on the backstepping method and the more general generalized saturation function, which breaks through the limitation of using the specific saturation function. According to the characteristics of autonomous surface ship, the model uncertainty and marine environment disturbance are approximated online by single hidden layer neural network. Then according to Lyapouv stability theory, the boundedness of all states of the closed-loop system is proved, and the tracking error can be arbitrarily small by selecting appropriate design parameters. Finally, the effectiveness of the proposed anti-saturation formation control algorithm is verified by comparing the simulation results.
【作者单位】： 哈尔滨工程大学自动化学院;渤海大学自动化学院;
【基金】：国家自然科学基金项目(61503040) 国家重大专项(“深水铺管起重船及配套工程技术”项目(2011ZX05027 002))资助~~
【分类号】：U664.82
，
本文编号：2129897
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