船舶系统有限时间滑模控制算法研究
Research on Finite-Time Sliding Mode Control Algorithm for Vehicle System
摘要: 本篇论文主要进行了三自由度船舶系统的有限时间滑模控制研究，针对船舶轨迹跟踪问题，分别从有限到达时间、奇异点问题以及控制输入的抖振方面讨论对比了三种滑模控制方案的性能。首先，在每一小节中分别给出了线性滑模控制、传统终端滑模控制以及非奇异终端滑模控制的三种滑模面以及控制器设计。接着，通过李雅普诺夫稳定性定理分析了船舶系统的稳定性并利用有限时间理论证明了所提定理的有效性。然后，分析了各个控制方法的有限到达时间。最后，通过数值仿真实现对船舶轨迹的跟踪以及所涉及的三类滑模控制方法的性能对比，验证所提及的理论的准确性。
Abstract: This paper mainly studies the finite time sliding mode control of three-degree-of-freedom vehicle systems. For trajectory tracking, the performance of three sliding mode control schemes is discussed and compared from the aspects of finite arrival time, singularity and the chattering phenomenon of control input. Firstly, in each section, three kinds of sliding mode surfaces and controller designs of linear sliding mode control, traditional terminal sliding mode control and non- singular terminal sliding mode control are presented respectively. Then, the stability of ship system is analyzed by Lyapunov stability theorem and the validity of the theorem is proved by finite-time theory. Next, the finite arrival time of each control method is analyzed. Finally, the vehicle trajectory tracking and the performance comparison of the three sliding mode control methods are realized by numerical simulation to verify the accuracy of the mentioned theory.
文章引用：陈雅楠. 船舶系统有限时间滑模控制算法研究[J]. 动力系统与控制, 2023, 12(2): 51-62. https://doi.org/10.12677/DSC.2023.122006

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