一种欠驱动船舶编队滑模鲁棒控制方法  

Sliding mode robust control for formation of multiple underactuated surface vessels

作　　者：杨震[1] 王岩 刘志林[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]中船重工703研究所,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2014年第11期90-96,105,共8页Electric Machines and Control

基　　金：黑龙江省博士后科学基金(3236310210);中央高校基本科研业务费专项资金(HEUCF041416)

摘　　要：为实现模型参数不确定和外界风浪流干扰情况下的欠驱动水面船舶编队控制,提出一种跟随者仅利用领航船的位置及航向信息,而不利用领航船的速度、角速度和动力学信息的编队控制方法。根据领航船的位置及航向角信息设计虚拟船,使其轨迹与参考船在有限时间内重合;基于虚拟船策略建立领导-跟随模式下的船舶编队控制模型;将反步法与滑模变结构方法相结合,设计了一种可以有效处理模型参数摄动和外界环境干扰问题的鲁棒控制器,使得跟随船沿着虚拟船的轨迹运动,从而与领航者保持期望的队形,达到编队控制的目的。通过对由3只"Northern Clipper"实船所组成的船舶编队进行编队控制仿真实验,结果验证了所提方法的正确性和有效性。The formation control problem for multiple underactuated surface vessels was studied by utilizing a leader-follower approach with parameter uncertainties and external disturbances,and a formation control method was proposed by which the follower tracked a reference trajectory based on the leader＇s position and the predetermined formation without the need for leader＇s velocity and dynamics. A virtual ship was constructed so that its trajectory converged to the reference trajectory of the follower in a limited time. The ships formation control model was established on the virtual ship under leader-follower mode.The robust controller could effectively deal with parameter uncertainties and external disturbances by combining backstepping with sliding-mode control method,which made the follower move along the trajectory of the virtual ship,maintain the desired formation with the leader and achieve the purpose of formation control. A Simulation of the formation control for the multiple underactuated surface vessels was performed by using three real Northern Clippers. Results have validated the effectiveness of the proposed method.

关 键 词：欠驱动船舶 编队控制 虚拟船 参数不确定 外界干扰 

分 类 号：U661.32[交通运输工程—船舶及航道工程]