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研究欠驱动船舶在规定速度条件下的路径跟踪控制问题,提出一种基于终端滑模与Backsteping方法相结合的复合输出反馈控制策略.该控制策略利用Backsteping能够获得控制算法显式解的优点,构造出控制器算法的结构形式,然后设计一个基于观测器设计的逆动态终端滑模面,使得系统的估计状态跟踪误差能够在有限时间到达滑模面上,最终达到系统可镇定.最后,通过Lyapunov稳定性理论证明该复合控制策略的稳定性.利用实船数据进行数字仿真,结果表明该控制策略具有良好的跟踪性能.
In order to solve the problem of path following control of underactuated ships at a given speed, a hybrid output feedback control strategy based on terminal sliding mode and Backsteping method is proposed. The control strategy uses Backsteping to obtain the advantages of explicit solution of control algorithm, Then the structure of the controller algorithm is derived, and then an observer-based design of the inverse dynamic terminal sliding surface is designed so that the estimated state tracking error of the system can reach the sliding surface in a finite time and finally the system can be stabilized. Finally, by Lyapunov The stability theory proves the stability of the hybrid control strategy.Using real ship data for numerical simulation, the results show that the proposed control strategy has good tracking performance.