基于非线性增益递归滑模的全驱动船舶轨迹跟踪自适应动态面控制

上传者: alkaid_miao | 上传时间: 2022-04-19 13:07:14 | 文件大小: 4.78MB | 文件类型: ZIP
对于操纵性能与安全性能要求较高的船舶,如浮式采油-储油-卸油船、穿梭运输邮轮、补给船和半潜式钻井平台等,一般采用全驱动配置以实现其目标。在进行某些特定的工程作业如深海勘探、海底管道建设、供给和海上石油钻探等时,需要船舶精确地按照预定的航线航行,由于所航行的环境、船舶自身特性等,多耦合、强非线性的水面船舶不可避免地遭受环境干扰以及存在着动态不确定性,这使得水面船舶轨迹跟踪控制设计极具挑战性。因此,研究全驱动船舶轨迹跟踪控制问题具有重要的理论意义和实际工程价值。首先,针对遭受未知外部环境扰动的三自由度全驱动船舶的轨迹跟踪控制问题,提出带扰动观测器的自适应动态面滑模控制方法。该方法设计扰动观测器估计外部环境扰动并进行前馈补偿,采用自适应律估计扰动观测误差的界,提高控制精度,结合动态面技术构造控制器,避免微分爆炸。其次,针对存在模型不确定项和未知外部环境扰动的三自由度全驱动船舶的轨迹跟踪控制问题,提出基于非线性增益递归滑模的自适应动态面控制方法。该方法引入神经网络逼近模型不确定项,采用自适应律估计神经网络逼近误差与扰动总和的界,综合考虑船舶位置和速度误差之间关系设计递归滑模面,并应用一种非线性

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