基于预设性能的动力定位船输出反馈避障控制  

Prescribed Performance Based Dynamic Positioning Ship Output Feedback Obstacle Avoidance Control

作　　者：张本伟[1] 陈旭[2] 郭恒宇 ZHANG Benwei;CHEN Xu;GUO Hengyu(China Classification Society,Beijing 100007,China;Jiangsu Branch,China Classification Society,Nanjing 210011,China)

机构地区：[1]中国船级社,北京100007 [2]中国船级社江苏分社,南京210011

出　　处：《船舶工程》2025年第3期99-106,135,共9页Ship Engineering

摘　　要：[目的]为降低船舶数学模型不确定性和外部干扰对动力定位船控制系统设计的影响,对带有输入约束的动力定位船输出反馈轨迹跟踪控制进行研究。[方法]提出一种基于碰撞风险动力学解算方法的船舶避障切换控制策略,结合扩张状态观测器、避障控制器、预设性能控制器和辅助动力系统等实现轨迹跟踪与动态避障;设计碰撞风险分析模块实时评估航行风险,根据评估结果切换避障控制器与预设性能控制器,并采用李雅普诺夫直接法严格证明闭环系统稳定性。[结果]仿真结果表明,所提控制策略可使轨迹跟踪快速收敛,且在动静态障碍物环境下均能保证船舶安全航行。[结论]策略有效解决了输入约束与障碍物环境下的动力定位船控制问题,通过理论证明与仿真验证表明其能兼顾控制精度与避障安全性。[Purpose]In order to reduce the influence of ship mathematical model uncertainty and external interference on the control system design of dynamic positioning ships,the output feedback trajectory tracking control of power positioning ships with input constraints is investigated.[Method]A ship obstacle avoidance switching control strategy based on the collision risk dynamics solution method is proposed,combining the expansion state observer,obstacle avoidance controller,preset performance controller and auxiliary power system to achieve trajectory tracking and dynamic obstacle avoidance.A collision risk assessment module is designed to evaluate real-time navigation risks,enabling adaptive switching between the obstacle avoidance controller and the preset performance controller based on risk levels.The closed-loop system stability is rigorously proven using the lyapunov direct method.[Result]Simulation results demonstrate that the proposed control strategy ensures rapid convergence of trajectory tracking,and guarantees safe vessel navigation in both dynamic and static obstacle environments.[Conclusion]The strategy proposed effectively solves the problem of dynamic positioning ship control under input constraints and obstacle environments,and the theoretical proofs and simulations show that it can balance the control accuracy and safety of obstacle avoidance.

关 键 词：动力定位船 预设性能 避障控制 输入约束 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] U664.82[自动化与计算机技术—控制科学与工程]