未知时变扰动和输入饱和下的智能船舶鲁棒非线性控制  

Robust Nonlinear Control of Intelligent Ships with Unknown Time-varying Disturbance and Input Saturation

作　　者：王旭阳 高迪驹[1] 王天真[1] 徐晓滨[2] WANG Xuyang;GAO Diju;WANG Tianzhen;XU Xiaobin(Key Laboratory of Marine Technology and Control Engineering,Ministry of Transport,Shanghai Maritime University,Shanghai 201306,China;School of Automation,Hangzhou Dianzi University,Hangzhou 310018,China)

机构地区：[1]上海海事大学航运技术与控制工程交通运输行业重点实验室,上海201306 [2]杭州电子科技大学自动化学院,杭州310018

出　　处：《船舶工程》2020年第4期102-108,共7页Ship Engineering

基　　金：国家自然科学基金(61673260;U1709215)。

摘　　要：为解决智能船舶的定位控制问题,考虑到船舶在未知时变扰动和输入饱和约束下的定位控制问题,结合非线性扰动观测器,提出一种带辅助动态系统的鲁棒非线性控制算法。通过Lyapunov理论证明提出的非线性扰动观测器与控制器相结合的闭环系统的稳定性和信号的一致最终有界性。利用非线性扰动观测器对环境中存在的海浪扰动进行有效的估计处理。通过仿真试验验证提出的控制算法不仅能保证船舶期望的位置和艏向,而且能提高控制速度,具有较好的控制性能。Aiming at the problem of intelligent ship positioning control, considering the problem of ship positioning control under unknown time-varying disturbance and input saturation constraint, a robust nonlinear control law with auxiliary dynamic system is proposed based on nonlinear disturbance observer. The Lyapunov theory is used to prove the stability of the closed-loop system and the consistent final boundedness of the proposed closed-loop system. The nonlinear disturbance observer is used to effectively estimate the ocean wave disturbances in the environment. Finally, it is verified by simulation that the proposed control algorithm can not only ensure the desired position and orientation of the ship, but also improve the control speed and have better control performance.

关 键 词：智能船舶 鲁棒控制 动态面控制 非线性扰动观测器 未知时变扰动 

分 类 号：U675.91[交通运输工程—船舶及航道工程]