摘要
[目的]针对欠驱动水面船舶在轨迹跟踪控制中存在的动态不确定和未知扰动问题,设计一种自适应神经网络有限时间轨迹跟踪控制方案。[方法]利用运动学虚拟控制律变换和有界限制的方法进行欠驱动变化。在Backstepping的框架下,利用神经网络重构未知动态,并设计自适应律逼近未知扰动的上界。通过Lyapunov直接法提供严格的理论分析,以证明闭环系统所有信号都是有界的,并使跟踪误差收敛至有界的区间。[结果]仿真结果表明,所提控制方案能够使欠驱动船舶在有限的时间内跟踪上期望的轨迹,且相比传统控制方案,系统误差的收敛速度更快,误差的上、下界也更小,在面对外界未知的时变干扰时还具有良好的鲁棒性。[结论]所做研究可为船舶的轨迹跟踪控制提供有效参考,具有实际的工程意义。
[Objective]Aiming at the problems of dynamic uncertainty and unknown disturbance in the trajectory tracking control of underactuated surface ships,an adaptive neural network finite time trajectory tracking control scheme is designed.[Method]The underactuated variation is carried out using the method of kinematic virtual control law transformation and bounded constraints.Under the framework of Backstepping,neural networks are used to reconstruct unknown dynamics,and an adaptive law is designed to approach the upper bound of unknown disturbances.The Lyapunov direct method provides a rigorous theoretical analysis which proves that all the signals of the closed-loop system are bounded,and the tracking error converges to a bounded interval.[Results]The simulation results show that this control scheme can make an underactuated ship track the desired trajectory in a limited time,the convergence speed of the system error is faster than that of the traditional control scheme,and the upper and lower bounds of the error are also smaller.It also shows good robustness in the face of unknown time-varying interference from the outside world.[Conclusion]The results of this study can provide valuable references for the tracking and control of ship trajectories,giving it great practical engineering significance.
作者
张强
朱雅萍
孟祥飞
张树豪
胡宴才
ZHANG Qiang;ZHU Yaping;MENG Xiangfei;ZHANG Shuhao;HU Yancai(School of Navigation and Shipping,Shandong Jiaotong University,Weihai 264200,China)
出处
《中国舰船研究》
CSCD
北大核心
2022年第4期24-31,共8页
Chinese Journal of Ship Research
基金
国家自然科学基金资助项目(51911540478)
山东省重点研究发展计划资助项目(2019JZZY020712)
山东省研究生教育教学改革研究项目(SDYJG19217)
山东交通学院博士生科研创业基金及山东交通学院攀登研究创新团队计划资助项目(SDJTUC1802)。
关键词
轨迹跟踪
自适应神经网络
有限时间
不确定扰动
欠驱动水面船舶
trajectory tracking
adaptive neural network
finite time
unknown disturbance
underactuated surface ship
作者简介
张强,男,1982年生,博士,教授。研究方向:船舶、机器人运动与控制。E-mail:zq20060054@163.com;朱雅萍,女,1996年生,硕士生。研究方向:船舶运动与控制。E-mail:yapingzhu514@163.com;孟祥飞,男,1991年生,硕士生。研究方向:船舶运动与控制。E-mail:brucem2021@126.com;通信作者:张树豪,男,1983年生,讲师。研究方向:船舶运动控制,智能航海技术。E-mail:zsh5225@163.com;胡宴才,男,1987年生,博士,讲师。研究方向:船舶运动与控制。E-mail:yancaihu@126.com。
