基于自适应控制的船舶轨迹跟踪算法研究
Research on Ships Trajectory Tracking Algorithm Based on Adaptive Control
DOI: 10.12677/DSC.2023.122009, PDF,   
作者: 张 祎：天津工业大学，计算机科学与技术学院，天津
关键词: 滑模控制；自适应律；固定时间稳定；船舶系统；Sliding Mode Control； Adaptive Law； Fixed-Time Stability； Ships
摘要: 本篇论文针对带有扰动的自主水面船舶系统，提出了基于自适应律的固定时间滑模控制算法。在控制器的设计中，采用双层嵌套自适应方案以减小抖振现象，控制增益的值根据外部扰动动态变化；将固定时间控制理论应用到船舶轨迹跟踪的研究领域中，能使轨迹误差不受初始运动状态的影响，在固定时间内到达滑模面。另外，提出的控制方法能保证船舶运动轨迹的有界性。最后，设计了一个仿真实验，证明所提方法的有效性及可行性。
Abstract: This paper presents a fixed-time sliding mode control algorithm based on adaptive law for ships with disturbance. In the design of the controller, a dual layer nested adaptive scheme is used to reduce the chattering phenomenon, and the value of the control gain changes dynamically according to the external disturbance. Applying the fixed-time control theory to the research field of ships trajectory tracking can make the trajectory error independent of the initial state and reach the sliding surface in fixed time. In addition, the proposed control method can ensure the boundedness of the system trajectory. Finally, a simulation experiment is designed to verify the effectiveness and availability of the proposed method.
文章引用：张祎. 基于自适应控制的船舶轨迹跟踪算法研究[J]. 动力系统与控制, 2023, 12(2): 86-97. https://doi.org/10.12677/DSC.2023.122009

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