摘要
针对欠驱动水面船的路径跟踪控制系统,提出一种反演自适应动态滑模控制方法。该系统由船舶艏摇非线性响应模型和Serret-Frenet误差动力学方程组成,并考虑建模误差和外界干扰力等不确定性。经过简化处理,将原欠驱动系统的控制问题转化为非线性系统的镇定问题。同时,基于反步方法和动态滑模控制理论,设计自适应动态滑模控制器。通过理论分析,证明在该控制器作用下,路径跟踪控制系统是全局渐近稳定的。仿真试验表明:该控制器对系统参数摄动和外界干扰不敏感,具有强鲁棒性和自适应性。
A method of backstepping adaptive dynamical sliding mode control （DSMC） was addressed for the path following control system of the underactuated surface vessel. The system consists of the nonlinear ship response model and the Serret-Frenet error dynamics equations. The control system takes account of the modeling errors and external disturbances. It transformed the original underactuated system into a nonlinear system via simplified analysis. An adaptive dynamical sliding mode controller was proposed based on backstepping method and dynamical sliding mode control theory. By means of theory analysis, it was proven that the proposed controller can render the path following control system globally asymptotically stable. Simulation results show that the controller is robust and adaptive to the systemic variations or disturbances.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2012年第7期2655-2661,共7页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(61004008)
中央高校基本科研业务费专项资金(HEUCFZ1003)
关键词
欠驱动水面船
路径跟踪
动态滑模控制
反步方法
自适应
underactuated surface vessel
path following
dynamical sliding mode control
backstepping method
adaptive
