性能函数约束下的动力定位船轨迹跟踪控制  

Trajectory tracking control of a dynamic positioning ship with performance function constraints

作　　者：王元慧[1] 王海滨 付明玉[1] WANG Yuanhui;WANG Haibin;FU Mingyu(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

出　　处：《哈尔滨工程大学学报》2019年第10期1703-1708,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51209056)

摘　　要：针对动力定位船的轨迹跟踪中经常涉及到控制偏差较大和跟踪误差无法估计的问题,本文提出了一种预设性能函数的约束控制方法。首先建立了三自由度简化的动力定位船运动学和动力学模型,根据模型特性设计了基于预设性能函数的反步自适应控制器,该控制方法能够保证动力定位船在执行轨迹跟踪任务过程中的暂态性能和稳态性能满足控制指标要求。然后通过Lyapunov稳定性判据,证明了满足预设性能前提下的系统稳定性并且能够快速收敛到平衡点的微小邻域内。实验结果表明:此方法减小了轨迹跟踪误差的超调量,保证了轨迹跟踪误差始终在预先设定的约束范围内。To solve the problems of large control deviation and incalculable tracking error in trajectory tracking of dynamic positioning ships,this work proposes a constrained control method based on a preset performance function.First,a simplified kinematic and dynamic model of a three-degree-of-freedom dynamic positioning ship was established,and a backstepping adaptive controller based on the preset performance function was designed according to the characteristics of the model.The control method guaranteed the transient and steady state performance of the dynamic positioning ship in the trajectory tracking process,so as to meet the prescribed performance requirements.Lyapunov stability criteria were than applied to prove that the system was stable and could converge rapidly on a small neighborhood area of the equilibrium point.Finally,the simulation results further verified effectiveness of the proposed algorithm.Our simulation results showed that the overshoot of the trajectory tracking error was reduced,and the trajectory tracking error was always within the constraints.

关 键 词：动力定位船 轨迹跟踪 反步自适应控制 鲁棒控制 预设性能 性能约束 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]