事件触发的自适应PID海洋水面船舶航迹跟踪控制  

Event-triggered adaptive PID trajectory tracking control for marine surface vehicles

作　　者：刘训文 徐超[1] 陈再发[1] LIU Xunwen;XU Chao;CHEN Zaifa(School of Marine Engineering,Zhejiang International Maritime College,Zhoushan 316021,Zhejiang,China)

机构地区：[1]浙江国际海运职业技术学院航海工程学院,浙江舟山316021

出　　处：《上海海事大学学报》2023年第2期11-17,共7页Journal of Shanghai Maritime University

基　　金：舟山市科技局公益项目(2022C31039)。

摘　　要：针对不确定动态和未知环境扰动情况下海洋水面船舶(marine surface vehicle,MSV)的航迹跟踪控制问题,在传统PID控制下,引入自适应神经网络和事件触发控制技术,提出一种不依赖船舶模型和环境扰动的事件触发的自适应PID控制方法来实现MSV航迹跟踪。Lyapunov稳定性理论分析结果表明,所提出的控制方法可以保证这个闭环控制系统所有信号的有界性,且可继承传统PID控制的优越性,同时可提高系统的鲁棒性。该研究结果不仅扩宽了PID控制的适用范围,而且为MSV航迹跟踪控制提供了新的设计方法。To solve the trajectory tracking control issue of marine surface vessels(MSVs)with uncertain dynamic and unknown environmental disturbance,under the traditional PID control,introducing the adaptive neural network and the event-triggered control techniques,an event-triggered adaptive PID control method is proposed to achieve MSVs’trajectory tracking,which is independent on the ship model and environmental disturbance.The analysis result of Lyapunov stability theory shows that the proposed control method can guarantee the boundedness of all signals of the closed-loop control system,can inherit the advantages of traditional PID control,and can improve the robustness of the system.The research result not only extends the application of PID control,but also provides a new design method for the trajectory tracking control of MSVs.

关 键 词：海洋水面船舶(MSV) 航迹跟踪控制 PID控制 神经网络 事件触发控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]