| 漂角修正的欠驱动船舶航向鲁棒自适应控制 |
| |
| 引用本文： | 陆潇杨,刘志全,褚振忠.漂角修正的欠驱动船舶航向鲁棒自适应控制[J].上海海事大学学报,2020,41(1):15-19. |
| |
| 作者姓名： | 陆潇杨 刘志全 褚振忠 |
| |
| 作者单位： | 上海海事大学航运技术与控制工程交通行业重点实验室,上海201306;上海海事大学物流工程学院,上海201306 |
| |
| 基金项目： | 国家自然科学基金(51839004)；上海市国际学术合作交流项目(18550720100)；上海市地方高校能力建设项目(19040501600) |
| |
| 摘 要： | 针对复杂海况下欠驱动船舶航向运动的非线性特性和海浪扰动问题,基于漂角修正设计一种反步航向控制器,并结合非线性扰动观测器提出一种鲁棒自适应控制方法。通过非零漂角对航向误差进行修正,利用非线性扰动观测器对艏摇方向存在的海浪扰动进行有效的估计,通过Lyapunov理论证明非线性扰动观测器与控制器结合后闭环系统的稳定性。仿真结果表明,提出的鲁棒自适应控制方法可以有效减小航向误差,提高航向控制性能。
|
| 关 键 词： | 航向控制 欠驱动船舶 漂角 反步法 非线性扰动观测器 |
| 收稿时间： | 2019/4/4 0:00:00 |
| 修稿时间： | 2019/10/24 0:00:00 |
Robust adaptive heading control for underactuated ships with sideslip angle amendment |
| |
| LU Xiaoyang,LIU Zhiquan,CHU Zhenzhong.Robust adaptive heading control for underactuated ships with sideslip angle amendment[J].Journal of Shanghai Maritime University,2020,41(1):15-19. |
| |
| Authors: | LU Xiaoyang LIU Zhiquan CHU Zhenzhong |
| |
| Institution: | (Key Laboratory of Marine Technology and Control Engineering,Ministry of Communications,Shanghai Maritime University,Shanghai 201306,China;Logistics Engineering College,Shanghai Maritime University,Shanghai 201306,China) |
| |
| Abstract: | For the nonlinear characteristics and wave disturbance problem of underactuated ship heading motion under complex sea conditions, a backstepping heading controller is designed with sideslip angle amendment, and a robust adaptive control method is proposed by combining the nonlinear disturbance observer. The heading error is amended by a non zero sideslip angle. The nonlinear disturbance observer is used to estimate the wave disturbance effectively in the yaw direction. The stability of the closed loop system, where the nonlinear disturbance observer and the controller are combined, is proved by the Lyapunov theory. The simulation results show that the proposed robust adaptive control method can effectively reduce heading error and improve the heading control performance. |
| |
| Keywords: | heading control underactuated ship sideslip angle backstepping method nonlinear disturbance observer |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《上海海事大学学报》浏览原始摘要信息 |
| 点击此处可从《上海海事大学学报》下载免费的PDF全文 |
