基于动态滑模的欠驱动船舶航迹跟踪控制  

Path following for underactuated ships based on dynamic sliding mode control

作　　者：刘贤朋[1] 卜仁祥[1] 刘勇[1] 

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《大连海事大学学报》2014年第2期5-9,共5页Journal of Dalian Maritime University

基　　金：中央高校基本科研业务费专项资金资助项目(3132014032)

摘　　要：针对具有二阶非完整约束特性的常规水面船舶,进行航迹跟踪控制设计.利用基于动态非线性滑模分解迭代设计的增量反馈控制方法,在船舶有一定进速的条件下仅利用舵设备即可完成欠驱动船舶的路径跟踪.该算法无需对不确定模型的参数或风、流干扰进行估计,并解除了要求参考航向已知和角速度持续激励的限制条件,能够同时进行直线和曲线的航迹跟踪.对"育龙"轮的非线性水动力模型仿真结果表明,控制器对系统参数摄动及外界干扰不敏感,具有强的鲁棒性.The path following control problem was concerned for conventional surface ships with second order nonholonomic constraints.An feedback algorithm was presented by using in-crement feedback control method based on dynamic nonlinear sliding mode.Without estimation of systemic uncertainty and disturbances , the underactuated path following control objec-tive could be achieved by single input of rudder angle when the ship was proceeding at a forward speed .The known refer-ence orientation and the yaw velocity PE （ persistent excita-tion） conditions were not required , so the controller can also be used for way points tracking .Computer simulation on a full nonlinear hydrodynamic ship model of M .V.YULONG show the effectiveness and robustness of the proposed controller .

关 键 词：船舶 航迹控制 欠驱动系统 滑模控制 反馈控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664.82[自动化与计算机技术—控制科学与工程]