基于扰动观测器的水面无人船自适应模糊控制器设计  

Design of adaptive fuzzy controller for unmanned surface vessel based on disturbance observer

作　　者：董颖慧 陈健 吕成兴 张子叶 余继恒 DONG Ying-hui;CHEN Jian;LU Cheng-xing;ZHANG Zi-ye;YU Ji-heng(School of Information and Control Engineering,Qingdao University of Technology,Qingdao Shandong 266520,China;School of Mathematics and System Science Engineering,Shandong University of Science and Technology,Qingdao Shandong 266590,China)

机构地区：[1]青岛理工大学信息与控制工程学院,山东青岛266520 [2]山东科技大学数学与系统科学学院,山东青岛266590

出　　处：《控制理论与应用》2024年第2期261-272,共12页Control Theory & Applications

基　　金：国家自然科学基金项目(61803220);山东省自然科学基金项目(ZR2021MF100);山东省重点研发计划项目(重大科技创新工程)(2022CXGC010608);山东省青创科技计划项目(2019KJI005)资助.

摘　　要：为了使水面无人船(USV)获得更好的跟踪性能,本文设计了基于扰动观测器和命令滤波器的自适应模糊控制器.对于该系统存在建模不确定性和外部环境的扰动,采用模糊逻辑系统(FLS)和一个新的扰动观测器对其进行逼近和补偿.在扰动观测器和控制器中加入了一个新的自适应参数,用来改善控制精度.基于此,本文设计了命令滤波反步控制方法,可以保证系统在所有状态下都是有界的,且跟踪误差在有限时间内小于规定的精度.仿真结果显示该方法有效,且可以满足给定的控制精度.In order to achieve the better tracking performance of unmanned surface vehicle(USV),an adaptive fuzzy controller based on the disturbance observer and command filter is designed in this paper.The fuzzy logic system(FLS)and a new disturbance observer are used to approximate and compensate the system with modeling uncertainty and disturbance of external environment.A new adaptive parameter is added to the disturbance observer and controller to improve the control accuracy.Based on this,a command-filter-based backstepping control method is designed to ensure that all the states of the system is bounded and the tracking errors are less than a prescribed accuracy in finite time.The simulation results show that this method is effective and can satisfy the given control precision.

关 键 词：模糊逻辑 水面无人船 扰动观测器 LYAPUNOV稳定性定理 自适应控制系统 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]