摘要
针对自主水面船舶的轨迹跟踪问题,提出了一种基于屏障函数的自适应滑模控制方法.根据滑模的收敛性,设置了一个切换自适应律,在不需要外部干扰先验信息的情况下,能够做到自适应的调节滑模增益.滑动变量能够收敛,并且保持在一个与干扰上界无关的预定义的零的邻域内,屏障函数能保证滑模增益始终动态地大于不确定外部环境干扰,从而确保自主水面船舶的轨迹跟踪性能.通过李雅普诺夫理论分析,证明了自主水面船舶系统能够在有限时间内到达预定义的零的邻域.最后通过仿真结果验证针对船舶轨迹跟踪问题所设计控制器的有效性.由仿真结果可知,在这种控制器作用下,船舶轨迹能够很好地跟踪上期望轨迹.
An adaptive sliding mode control method was proposed based on barrier function for tracking the trajectory of autonomous surface vessels.A switching control rate was set according to the convergence of sliding variable mode,and the sliding variable mode gain could be adjusted adaptively without the prior information of external disturbance.The results show that sliding variable can converge and remain in a predefined neighborhood of zero independently of the upper bound of disturbances.The barrier function ensures that the sliding mode gain is always dynamically greater than the uncertain external environmental disturbances,which guarantees the trajectory tracking performance of autonomous surface vessels.The Lyapunov theoretical analysis proves that the autonomous surface vessel system can reach the predetermined neighborhood of zero in a finite time.The simulation results verify the effectiveness of the controller designed for the trajectory tracking problem,which illuminates that the vessel trajectory can track the desired trajectory well by the designed method.
作者
赵向涛
阎妍
于双和
赵颖
ZHAO Xiangtao;YAN Yan;YU Shuanghe;ZHAO Ying(College of Marine Electrical Engineering,Dalian Maritime University,Dalian,Liaoning 116026,China)
出处
《江苏大学学报（自然科学版）》
CAS
北大核心
2021年第6期715-720,共6页
Journal of Jiangsu University：Natural Science Edition
基金
国家自然科学基金资助项目(62073054,62003070)
中国博士后科学基金资助项目(2020M680037,2020M680930)
中央高校基本科研业务费资助项目(3132020107)
辽宁自然科学基金资助项目(2021-MS-142)
大连青年科技之星项目(2019RQ092)。
关键词
自主水面船舶
屏障函数
自适应控制
滑模控制
轨迹跟踪控制
autonomous surface vessel
barrier function
adaptive control
sliding mode control
trajectory tracking control
