基于变结构自抗扰的欠驱动水面船舶航迹保持控制

• 作 者: 孙建 李伟 安思朦
• 机 构: 大连海事大学航海学院,
• 出 处: 大连海事大学学报
• 发表日期: 2015年03期
• 关键词: 欠驱动系统 航迹控制 抗扰 航迹保持 自抗扰控制器 变结构控制 船首向 参数不确定性 滑模面 切换面

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.

In view of the problem of keeping track of undeveloped surface watercraft under the influence of internal dynamic uncertainty and external wind flow, the variable structure control is introduced into the nonlinear ADRC controller, which not only ensures the advantages of the original controller but also greatly reduces the need for setting , The dimensionality reduction equation is constructed and the trajectory control problem is transformed into a simple tracking reference heading problem.The simulation results show that the new controller has better control effect and enables the ship to accurately track the straight-line trajectory, Strong robustness.