基于加幂积分法的水面船舶有限时间轨迹跟踪控制

doi:10.19423/j.cnki.31-1561/u.2024.02.002

船舶 ›› 2024, Vol. 35 ›› Issue (02): 9-18.DOI: 10.19423/j.cnki.31-1561/u.2024.02.002

基于加幂积分法的水面船舶有限时间轨迹跟踪控制

曾道辉¹, 蔡成涛^1,2,3,*

1.哈尔滨工程大学智能科学与工程学院哈尔滨 150001;
2.船海装备智能化技术与应用教育部重点实验室哈尔滨 150001;
3.电子政务建模仿真国家工程实验室哈尔滨 150001

收稿日期:2024-01-03 修回日期:2024-01-31 出版日期:2024-04-28 发布日期:2024-04-28
通讯作者: 蔡成涛（1980-）,男,博士,教授/博士生导师。研究方向：智能船舶控制、图像处理和全景视觉应用等。
作者简介:蔡成涛,毕业于哈尔滨工程大学,并分别于2003年、2005年和2008年获工学学士、工学硕士和工学博士学位,研究领域包括无人系统智能控制、复杂环境智能感知等,累计主持国家博士后基金、国家及省市自然科学基金、国防预研及科研等研究课题50余项,研究成果先后获得国防科技进步一等奖、海洋工程科技进步二等奖、黑龙江省科技进步二等奖等奖项,出版学术专著3部、译著1部以及国家规划类教材2部,发表学术论文80余篇,获授权发明专利30余项; 现担任哈尔滨工程大学计算机科学与技术学院院长、软件学院院长、国家保密学院常务副院长、电子政务建模仿真国家工程实验室主任,以及黑龙江省环境智能感知重点实验室主任等职务,同时担任《哈尔滨工程大学学报》期刊编委。曾道辉（1996-）,男,博士研究生。研究方向：系统辨识和水面无人艇运动控制。

Finite-Time Trajectory Tracking Control of Surface Vehicle Based on Adding a Power Integrator Technique

ZENG Daohui¹, CAI Chengtao^1,2,3,*

1. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China;
2. Key Laboratory of Intelligent Technology and Application of Marine Equipment, Ministry of Education, Harbin 150001, China;
3. Modeling and Emulation in E-Government National Engineering Laboratory, Harbin 150001, China

Received:2024-01-03 Revised:2024-01-31 Online:2024-04-28 Published:2024-04-28

摘要/Abstract

摘要： 针对具有在模型参数不确定性和未知时变扰动下的水面船舶,该文提出1种基于扩张状态观测器的有限时间轨迹跟踪控制方案。首先,基于反步法和加幂积分法,提出了1种新的有限时间控制律,所设计的控制器通过采用连续反馈,可确保水面船舶的轨迹跟踪误差在有限时间内收敛到原点附近的邻域内;其次,在李雅普诺夫意义下严格证明了闭环控制系统的有限时间稳定性;最后,通过仿真比较表明了所提出的控制方案的优越性。

关键词: 水面船舶, 轨迹跟踪, 扩张状态观测器, 有限时间控制器, 加幂积分法

Abstract: A finite-time trajectory tracking control scheme based on the extended state observer is proposed for surface vehicles with model parameter uncertainties and unknown time-varying disturbances. Firstly, a novel finite-time control law is proposed based on the backstepping technique and “adding a power integrator” technique. The designed controller can ensure the trajectory tracking errors of surface vehicles converge to the neighborhood around the origin within a finite time by using continuous feedback. The finite-time stability of the closed-loop control system is then strictly proved using the Lyapunov theory. Finally, the simulation results are provided to demonstrate the effectiveness of the proposed control scheme.

Key words: surface vehicle, trajectory tracking, extended state observer, finite-time controller, adding a power integrator technique

中图分类号:

U665.26

曾道辉, 蔡成涛. 基于加幂积分法的水面船舶有限时间轨迹跟踪控制[J]. 船舶, 2024, 35(02): 9-18.

ZENG Daohui, CAI Chengtao. Finite-Time Trajectory Tracking Control of Surface Vehicle Based on Adding a Power Integrator Technique[J]. Ship & Boat, 2024, 35(02): 9-18.

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基于加幂积分法的水面船舶有限时间轨迹跟踪控制

Finite-Time Trajectory Tracking Control of Surface Vehicle Based on Adding a Power Integrator Technique

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