摘要
[目的]针对水面无人艇(USV)的海上通信受限的问题,提出一种带有状态/输入量化的USV航向跟踪控制方法。[方法]基于反步法设计系统控制律,结合动态面技术降低虚拟控制律的计算量膨胀问题。对于控制系统中存在的不确定项及外界干扰,利用扩张状态观测器(ESO)进行估计。采用均匀量化器分别对控制系统中的状态变量和控制输入进行量化,且量化后的状态反馈信息仅用于跟踪控制。利用量化状态递归设计基于ESO的USV航向控制器,证明闭环控制系统中量化变量和非量化变量间误差的有界性。[结果]基于李雅普诺夫稳定性理论,提出了量化误差考量及闭环系统稳定性判定方法,严格证明了所设计的带有状态量化和输入量化的USV航向跟踪控制系统的稳定性,仿真实验验证了该控制策略的有效性。[结论]结果表明,所提方法可为USV航向跟踪控制提供借鉴。
[Objective]This paper develops a heading tracking design strategy for unmanned ships with state quantization and input quantization in order to address the problem of limited communication at sea for unmanned ships on the water surface.[Methods]First,a control law is designed on the basis of backstepping and combined with dynamic surface control to reduce the computational complexity of the virtual control law.An extended state observer is also designed to estimate uncertainties and unknown disturbances.Second,all state variables and control variables in the control system are assumed to be quantized by the uniform quantizer,and the quantized state feedback information is only available for the tracking control design.A controller of unmanned ships based on the extended state observer and using quantized states is recursively designed to ensure the tracking of the desired heading.The boundedness of the quantization errors between quantized variables and non-quantized variables in the closed-loop system is analyzed by presenting several theoretical lemmas.[Results]Based on the Lyapunov stability theory,the stability of the designed unmanned ship heading tracking control system with state quantization and input quantization is demonstrated,and the simulation results verify the effectiveness of the resulting tracking scheme.[Conclusion]The results of this study can provide references for the heading tracking of unmanned ships.
作者
李伟
王雨
宁君
李志慧
LI Wei;WANG Yu;NING Jun;LI Zhihui(Navigation College,Dalian Maritime University,Dalian 116026,China;College of Information Technology,Jilin Normal University,Siping 136000,China)
出处
《中国舰船研究》
CSCD
2024年第1期111-118,共8页
Chinese Journal of Ship Research
基金
国家自然科学基金资助项目(52171292,52271304)
大连海事大学航海学院一流学科交叉研究资助项目(NO.9)
中央高校基本科研业务费资助项目(3132023151)。
关键词
无人艇
状态量化和输入量化
量化反馈控制
扩张状态观测器
量化误差
unmanned surface vessels
state quantization and input quantization
quantitative feedback control
extended state observer
quantization error
