基于有限时间观测器的水面船舶轨迹跟踪控制方法
A Control Method for Surface Ship Trajectory Tracking Based on Finite Time Observer
DOI: 10.12677/PM.2023.1310321, PDF,   
作者: 刘志民：上海出版印刷高等专科学校，基础教学部，上海
关键词: 有限时间控制；水面船舶；轨迹跟踪；Finite Time Control； Surface Vessel； Trajectory Tracking
摘要: 本文针对欠驱动自水面船舶的运动学和动力学特征，设计了一种带观测器的有限时间跟踪控制器，把系统的运动和动力学模型分为两个子系统，速度控制子系统和转向控制子系统，针对速度控制子系统，引入了带有观测器的虚拟控制器，针对转向控制子系统，设计了有限时间滑模控制策略，所设计的控制系统具有有限时间全局稳定性。可以较好地实现位置跟踪和方向控制。最后，将所提出的控制算法应用于水面船舶，仿真结果表明了该控制器具有快速的响应性和一定的鲁棒性。
Abstract: This article designs a finite time tracking controller with observers for the kinematic and dynamic characteristics of underactuated self propelled surface vessels. The motion and dynamic model of the system is divided into two subsystems: speed control subsystem and steering control subsys-tem. For the speed control subsystem, a virtual controller with observers is introduced, and for the steering control subsystem, a finite time sliding mode control strategy is designed, the designed control system has finite time global stability. It can effectively achieve position tracking and direction control. Finally, the proposed control algorithm was applied to surface vessels, and simulation results showed that the controller has fast responsiveness and certain robustness.
文章引用：刘志民. 基于有限时间观测器的水面船舶轨迹跟踪控制方法[J]. 理论数学, 2023, 13(10): 3104-3110. https://doi.org/10.12677/PM.2023.1310321

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