带输入饱和的欠驱动水面船参数自适应滑模控制  

Parameter adaptive sliding mode control for underactuated surface vehicle with input saturation

作　　者：付明玉[1] 王莎莎 王元慧[1] 庹玉龙 FU Mingyu;WANG Shasha;WANG Yuanhui;TUO Yulong(College of Automation,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2019年第1期202-209,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51309062;51879049);中央高校基本科研经费项目(HEUCF041701)

摘　　要：针对具有外部干扰和输入饱和的欠驱动水面船路径跟踪控制问题,本文提出一种基于饱和补偿辅助系统的参数自适应滑模控制方法。通过以路径上虚拟参考目标点为原点,引入Serrete-Frenet移动坐标系,在此基础上引入切向速度作为虚拟控制输入;结合饱和辅助系统设计具有切换增益和sigmoid函数边界层厚度的参数自适应滑模控制器。此外,利用李雅普诺夫理论证明了闭环系统的全局稳定性,保证跟踪误差收敛到零的任意小领域内。通过与常规滑模控制对比,数值仿真验证所提控制律的有效性和自适应性,不仅可以减弱常规滑模中的"抖振"现象,同时补偿外部干扰和输入饱和误差提高跟踪精度。This paper investigates the control problem of path following for an underactuated surface vehicle in the presence of external disturbances and input saturation.A parameter adaptive sliding mode control method based on the auxiliary system of saturation compensation is proposed without knowing the boundary of uncertainties.First,with the virtual reference point on the path as the origin,the Serrete-Frenet moving coordinate system is employed.Tangential velocity is introduced as the virtual control input.Second,a parameter adaptive sliding mode controller is designed based on the auxiliary saturation system by modifying switching gain and sigmoid function boundary layer thickness.The Lyapunov theorem confirms that the proposed control scheme can guarantee that all signals of the closed-loop system are globally stable,with the tracking errors converging to an arbitrarily small neighborhood of zero.Finally,the simulation results verify the effectiveness and adaptability of the proposed control law,which can weaken the chattering in regular sliding mode control but also compensate for the external disturbances and input saturation error to improve the tracking accuracy.

关 键 词：欠驱动水面船 输入饱和 参数自适应控制 滑模控制 虚拟控制输入 路径跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]