输入受限无人帆船自适应航向跟踪控制  

Adaptive Course Tracking Control of Input Constrained Unmanned Sailboat

作　　者：杨晓武 石春 YANG Xiaowu;SHI Chun(College of Artificial Intelligence and Electrical Engineering,Guizhou Institute of Technology,Guiyang 550003,China;Zhongjiao Ruitong Construction Engineering Co.,Ltd.,Beijing 100176,China)

机构地区：[1]贵州理工学院人工智能与电气工程学院,贵州贵阳550003 [2]中交瑞通建筑工程有限公司,北京100176

出　　处：《机械与电子》2023年第2期27-31,36,共6页Machinery & Electronics

基　　金：贵州理工学院2021年度学术新苗培养及创新探索项目(GZLGXM-07)。

摘　　要：针对带有输入受限且存在未知控制系数约束情形下,考虑了具有未知模型和风、浪等外界干扰的无人船航向跟踪控制问题,提出一种受限控制输入约束下的跟踪控制方法。该方法运用RBF神经网络对未知模型进行在线逼近,利用Nussbaum自适应增益技术解决未知控制系数问题。根据滑模控制理论,设计具有指数趋近律的鲁棒控制项,保证所得误差闭环系统快速响应且最终趋向0。为弱化传统滑模控制产生的抖振问题,将符号函数替换成饱和函数使控制输入变得平滑。引入一种误差辅助系统,构建了帮助误差闭环系统输入退出饱和机制。通过李雅普诺夫稳定性理论,给出了跟踪控制方法的稳定性数学分析过程,证明误差闭环跟踪控制系统的所有信号最终一致有界性。最后通过仿真结果验证了所得理论的有效性。A saturated tracking control approach is proposed for the course tracking control of unmanned sailboats with unknown models, unknown control direction, and external disturbances such as wind and waves.In this method, RBF neural network is used to approximate the unknown model online, and a Nussbaum adaptive gain technique is introduced to solve the problem with an unknown control coefficient.According to the sliding mode control theory, a robust control term with exponential reaching law is designed to ensure that the resulting error closed-loop system responds quickly and eventually approaches zero.In order to attenuate the chattering caused by traditional sliding mode control, the sign function is replaced by the saturation function to make the smoothness of the control input.Furthermore, considering the bounded constraint of the physical output of the actuator, an error auxiliary system is introduced to construct an input exit saturation mechanism for the resulting error closed-loop system.Based on Lyapunov stability theory, the stability mathematical analysis of the tracking control method is presented.It is shown that all the error signals in closed-loop tracking control systems are ultimately uniformly boundedness.Finally, the simulation results are provided to corroborate the effectiveness of the obtained theory.

关 键 词：输入受限 RBF神经网络 Nussbaum增益技术 滑模控制技术 鲁棒跟踪控制 

分 类 号：U661.33[交通运输工程—船舶及航道工程]