基于速度观测器的欠驱动船舶自适应滑模控制  

Adaptive sliding mode control of underactuated ship based on velocity observer

作　　者：孙浩男 陈世才[1] 张键 刘宴志 SUN Hao-nan;CHEN Shi-cai;ZHANG Jian;LIU Yan-zhi(Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学,辽宁大连116026

出　　处：《舰船科学技术》2023年第13期48-52,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(51479021)。

摘　　要：欠驱动船舶在海上航行时存在干扰未知、速度难以测量等问题,给船舶运动控制器的设计带来了困难。为解决上述问题,提出带积分滑模面的自适应滑模路径跟踪控制器,利用积分面的特性,设计切换函数。引入自适应律对外界海洋环境干扰及模型参数摄动进行在线补偿,结合改进的非线性观测器对难以测量的速度进行观测,利用Lyapunov理论对系统稳定性进行证明。最后,在模拟海洋环境下进行路径跟踪控制的对比仿真实验,证明了控制方案的有效性。Underactuated ship has some problems such as unknown disturbance and difficult speed measurement when sailing at sea.These have brought problems to ship motion controller design.In order to solve the above problems,an adaptive sliding mode path following controller with integral sliding mode surface is proposed in this paper.Adaptive law is introduced to compensate the disturbance and perturbation of model parameters,and an improved nonlinear observer is used to observe the velocity which is difficult to measure.System stability is proved by Lyapunov theory.Finally,a comparative simulation of the path following control is carried out in a simulated ocean environment,which proves the effectiveness and superiority of the control algorithm.

关 键 词：欠驱动船舶 路径跟踪 积分滑模面 自适应滑模控制 非线性观测器 

分 类 号：U664.82[交通运输工程—船舶及航道工程]