一类欠驱动系统的跟踪控制器设计
发布时间：2018-08-21 11:22
【摘要】：随着欠驱动系统的发展,欠驱动水面船舶作为一类典型的欠驱动系统具有重要的研究意义和实用价值.本文主要针对含有不确定参数和外界环境干扰的欠驱动水面船的跟踪控制问题进行研究,主要工作如下:1.引入含有不确定参数和外界环境干扰的三自由度欠驱动水面船舶的运动学和动力学模型.2.针对含有不确定参数的欠驱动水面船舶,研究其自适应镇定和路径跟踪一体化控制问题.基于Lyapunov’s直接法、Backstepping技术和鲁棒自适应投影算法,设计一个能同时实现欠驱动船路径跟踪与镇定的一体化控制器.在一定的假设条件下,通过稳定性分析证明了本章所设计的自适应控制器能够同时实现闭环系统的镇定和路径跟踪控制.最后,通过仿真验证了所提自适应镇定和路径跟踪一体化控制算法的有效性和鲁棒性.3.针对外部动态干扰的三自由度欠驱动水面船舶系统,利用弗莱纳坐标和非线性状态变换,将其转化为单输入非线性链式系统.通过引入干扰观测器来补偿外部干扰的影响,然后将干扰观测器和反馈环相结合,设计复合广义预测抗干扰控制器,保证了欠驱动水面船能够全局渐近跟踪所给定的参考路径.仿真结果表明了所提抗干扰控制策略的有效性.
[Abstract]:With the development of underactuated system, underactuated surface ship as a typical underactuated system has important research significance and practical value. In this paper, the tracking control problem of underactuated surface ship with uncertain parameters and external environmental disturbance is studied. The main work is as follows: 1. The kinematics and dynamics model of a three-degree-of-freedom underactuated surface ship with uncertain parameters and external environment disturbance is introduced. The problem of adaptive stabilization and path tracking integrated control for underactuated surface ships with uncertain parameters is studied. Based on Lyapunov's direct backstepping technique and robust adaptive projection algorithm, an integrated controller is designed to track and stabilize underactuated ship paths at the same time. Under certain assumptions, it is proved by the stability analysis that the adaptive controller designed in this chapter can realize the stabilization and path tracking control of the closed-loop system at the same time. Finally, the effectiveness and robustness of the proposed adaptive stabilization and path tracking integrated control algorithm are verified by simulation. For the ship system with three degrees of freedom underactuated by external dynamic disturbance, the system is transformed into a single input nonlinear chain system by using Fliner coordinates and nonlinear state transformation. The disturbance observer is introduced to compensate for the influence of external disturbance. Then the disturbance observer and feedback loop are combined to design a composite generalized predictive anti-jamming controller to ensure that the underactuated surface ship can globally asymptotically track the given reference path. Simulation results show the effectiveness of the proposed anti-jamming control strategy.
【学位授予单位】：曲阜师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U664.82;TP273
本文编号：2195559
[Abstract]:With the development of underactuated system, underactuated surface ship as a typical underactuated system has important research significance and practical value. In this paper, the tracking control problem of underactuated surface ship with uncertain parameters and external environmental disturbance is studied. The main work is as follows: 1. The kinematics and dynamics model of a three-degree-of-freedom underactuated surface ship with uncertain parameters and external environment disturbance is introduced. The problem of adaptive stabilization and path tracking integrated control for underactuated surface ships with uncertain parameters is studied. Based on Lyapunov's direct backstepping technique and robust adaptive projection algorithm, an integrated controller is designed to track and stabilize underactuated ship paths at the same time. Under certain assumptions, it is proved by the stability analysis that the adaptive controller designed in this chapter can realize the stabilization and path tracking control of the closed-loop system at the same time. Finally, the effectiveness and robustness of the proposed adaptive stabilization and path tracking integrated control algorithm are verified by simulation. For the ship system with three degrees of freedom underactuated by external dynamic disturbance, the system is transformed into a single input nonlinear chain system by using Fliner coordinates and nonlinear state transformation. The disturbance observer is introduced to compensate for the influence of external disturbance. Then the disturbance observer and feedback loop are combined to design a composite generalized predictive anti-jamming controller to ensure that the underactuated surface ship can globally asymptotically track the given reference path. Simulation results show the effectiveness of the proposed anti-jamming control strategy.
【学位授予单位】：曲阜师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U664.82;TP273
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