具有预设性能的船舶轨迹跟踪动态面控制  

Dynamic Surface Control for Ship Trajectory Tracking with Prescribed Performance

作　　者：马洪涛[1] MA Hongtao(Jiangsu Maritime Institute,Nanjing 211170,China)

机构地区：[1]江苏海事职业技术学院,南京211170

出　　处：《船舶工程》2020年第12期93-97,130,共6页Ship Engineering

摘　　要：为了保证船舶轨迹跟踪误差保持在预设的约束范围内,设计一种具有预设性能的船舶轨迹跟踪动态面控制器。根据船舶轨迹跟踪控制系统的特点设定一个满足实际要求的性能约束函数,并等价为无约束函数方程。基于动态面技术设计一种有预设性能的船舶轨迹跟踪控制器。动态面技术的引入解决了传统反步法的计算膨胀问题,具有计算量小、易于实际工程的实现等优点。通过Lyapunov稳定理论证明控制系统中的所有信号都是最终一致有界,且跟踪误差能够收敛到一个预设的区域内。以一艘供给船进行仿真研究,结果证实了所设计的控制器的有效性。In order to keep the ship trajectory tracking error within a prescribed constraint, the paper develops a dynamic surface control(DSC) trajectory tracking controller for ships with prescribed performance. According to the characteristics of ship trajectory tracking control system, a preset performance constrained function is designed, which is transformed into an unconstrained function. By the DSC, the ship trajectory tracking controller is presented with prescribed performance. The introduction of DSC solves the computational expansion problem of traditional backstepping method, with the advantages of small amount of calculation, which is easy to implementation in practical engineering. By means of Lyapunov stability theory, it is proved that the proposed scheme can guarantee the uniform ultimate boundedness of all signals, and the track error can converge on a prescribed area. The simulation study on a supply vessel are carried out to demonstrate the effectiveness of the developed scheme.

关 键 词：轨迹跟踪 预设性能 动态面 暂态性能 稳态性能 

分 类 号：U664.82[交通运输工程—船舶及航道工程]