基于反推滑模的船舶动力定位有限时间控制  

Finite Time Control for Marine Surface Vehicle Based on Backstepping Sliding Mode Algorithm

作　　者：陈海力[1] 任鸿翔[1] 李源惠[1] 关巍[1] CHEN Hai-li;REN Hong-xiang;LI Yuan-hui;GUAN Wei(Navigation College,Dalian Maritime University,Dalian Liaoning 116026,China)

机构地区：[1]大连海事大学航海学院,辽宁大连116026

出　　处：《计算机仿真》2021年第12期182-187,479,共7页Computer Simulation

基　　金：国家自然基金青年科学基金项目(51409033);省自然科学基金指导计划(20170540092)。

摘　　要：考虑存在未知外界干扰的船舶动力定位控制问题,提出一种基于有限时间理论的自适应反推非奇异快速终端滑模算法,并对未知干扰进行自适应估计。利用有限时间Lyapunov理论证明了设计的控制律能够保证闭环系统的状态在有限时间内收敛到平衡点附近小的邻域内。仿真结果表明,与传统渐近稳定控制律相比,设计的控制策略保证闭环系统具有更快的收敛速度及更好的稳定性和鲁棒性。此外,通过对干扰的自适应补偿,进一步降低了系统的稳态误差,增强了系统的抗干扰能力。In order to cope with the dynamic positioning control problem of the ship with unknown external disturbances, a novel adaptive backstepping nonsingular and fast terminal sliding mode control(ANSTSMC) approach was investigated, which compensated the upper bound of external disturbances as well. Then, the finite-time Lyapunov theory was adopted to demonstrate that the proposed control algorithm drove the states of the closed-loop system to converge to a small neighborhood of the reference point in finite time. Finally, Numerical simulation results illustrated that the closed-loop system owned a faster convergence rate and better capability of stability and robustness under the proposed control approach, compared to the traditional asymptotic stability control approach. Also, by compensating the upper bound of external disturbances, the stability errors of the closed-loop system further decreased and the disturbances rejection was enhanced.

关 键 词：动力定位 自适应控制算法 终端滑模算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U661[自动化与计算机技术—控制科学与工程]