摘要
针对受内部动态不确定和外界风流影响下的欠驱动水面船舶直线航迹保持问题,将变结构控制引入非线性自抗扰控制器中,在保证原控制器优点的同时,大大减少了需要整定的参数.同时构造降维方程,使航迹控制问题转变为简单的跟踪参考航向问题.仿真结果表明,新控制器具有较好的控制效果,可使船舶对直线航迹精确跟踪,且具有较强的鲁棒性.
Variable structure control was introduced into non- linear active-disturbance rejection controller for the straight line track keeping control problem of underactuated surface ship under the influence of internal dynamic uncertainties and external disturbances. The needed setting parameters were greatly reduced with keeping the intrinsic controller＇ s advantages. Meanwhile through the design of dimension reduction equation, the ship track keeping control is changed into the simple desired heading angle followed control. Simulation resuits show that the new controller with preferable control function is robust against the systemic variations and external disturbances, which can realize the accurate tracking of straight line.
出处
《大连海事大学学报》
CAS
CSCD
北大核心
2015年第3期10-14,共5页
Journal of Dalian Maritime University
基金
中央高校基本科研业务费专项资金资助项目(3132014022)
关键词
欠驱动水面船舶
航迹保持
变结构自抗扰
underactuated surface ship
track keeping
variable structure active-disturbance rejection
