考虑暂态/稳态性能的船舶航向保持控制  

Robust course-keeping control for ships with the prescribed transient / steady performance

作　　者：田佰军[1] 刘正江[1] 郑云峰[1] 

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《哈尔滨工程大学学报》2016年第5期640-645,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(51179019)

摘　　要：为进一步解决模型存在不确定性和外界环境干扰的船舶航向保持指定性能控制问题,在Backstepping方法基础上,引入指定性能函数和系统变换,提出一种适用于一般非线性系统的鲁棒自适应控制策略。考虑到系统初始状态不确定问题,将指定性能函数设计与系统初始跟踪误差关联,充分利用船舶模型内部结构特征,避免了现有研究中针对不同初始跟踪误差和符号需要重新设计控制器的缺陷。该算法解决了船舶航向保持控制中暂态过程对超调量和收敛速率等控制性能的指定问题,理论分析和仿真实例验证了所提出控制策略的有效性。To supplement the control design for the ship course-keeping system with the model uncertainty and external nonzero time-varying disturbances, a robust adaptive control scheme is proposed that uses the popular backstep- ping method, the prescribed performance function and the system-transformation method. By employing the inherent structural characteristics of marine ships, the new prescribed performance function is related to the initial error signal and its sign, which could avoid the defect that the controller requires to be resetted for the different initial error signal and its sign.Compared with the existing results, the proposed algorithm has the advantages of presetting the transient performance of the closed-loop system, specifically the overshoot and the rate of convergence. Numerical simulation results and theoretical analysis illustrate the effectiveness of the proposed scheme.

关 键 词：船舶 航向保持 BACKSTEPPING 指定控制性能 暂态性能 鲁棒控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]