考虑伺服系统增益不确定的船舶动力定位自适应有限时间控制  

Adaptive Finite Time Dynamic Positioning Control of Fully-actuated Ship With Servo System Uncertainties

作　　者：张国庆[1,2] 黄晨峰 吴晓雪 张显库 ZHANG Guo-Qing;HUANG Chen-Feng;WU Xiao-Xue;ZHANG Xian-Ku(Navigation College,Dalian Maritime University,Dalian 116026;Department of Automation,Shanghai Jiao Tong University,Shanghai 200240;College of Information Engineering,Dalian Ocean University,Dalian 116023)

机构地区：[1]大连海事大学航海学院,大连116026 [2]上海交通大学自动化系,上海200240 [3]大连海洋大学信息工程学院,大连116023

出　　处：《自动化学报》2018年第10期1907-1912,共6页Acta Automatica Sinica

基　　金：国家自然科学基金(51679024);中国博士后创新人才支持计划(BX201600103);辽宁省博士启动基金项目(20170520189);辽宁省自然科学基金(20180520039);教育部"创新团队发展计划"资助项目(IRT17R13);中央高校基本科研业务费专项资金资助项目(3132018301;3132018304)资助~~

摘　　要：针对全驱动水面船舶动力定位控制问题,假设船舶模型参数摄动和外部扰动的上界已知,通过构造误差信号的非奇异终端滑模面(Non-singular terminal sliding mode, NTSM)提出了一种自适应终端滑模的控制方法.同时考虑伺服系统增益不确定问题,对未知的推力系数矩阵的倒数进行参数自适应,确保设计的控制器能使得船舶的位置及艏向角在有限时间内收敛于期望值,且能保证闭环系统实际有限时间稳定(Practical finite-time stable, PFS).利用一艘供给船进行数值仿真研究,说明了设计的船舶动力定位自适应终端滑模控制律的有效性.In order to tackle the dynamic positioning problem of fully actuated ships, an adaptive terminal sliding mode control scheme is proposed by assuming that the upper bound of ship model s uncertainties and environmental disturbances are known and by constructing the non-singular terminal sliding manifold（NTSM） through error dynamics. Considering the servo system gain uncertainties, the unknown thrust constant matrix is transformed into reciprocal and parametric adaptive method is used to make sure that the position and yaw angle of fully actuated ships can converge to the desired values in a finite time, and the closed-loop system is practically finite-time stable（PFS）. Simulation results of a supply vessel show the effectiveness of the adaptive terminal sliding mode control scheme.

关 键 词：全驱动船舶 有限时间 自适应控制 终端滑模 伺服系统增益不确定 

分 类 号：U664.82[交通运输工程—船舶及航道工程]