| 未知扰动下自主水面船自适应有限时间轨迹跟踪 |
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| 引用本文： | 朱齐丹,马俊达,刘志林. 未知扰动下自主水面船自适应有限时间轨迹跟踪[J]. 系统工程与电子技术, 2016, 38(2): 368-374. DOI: 10.3969/j.issn.1001-506X.2016.02.20 |
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| 作者姓名： | 朱齐丹 马俊达 刘志林 |
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| 作者单位： | 哈尔滨工程大学自动化学院, 黑龙江 哈尔滨 150001 |
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| 摘 要： | 研究了未知干扰下的自主水面船(autonomous surface vehicle, ASV)的轨迹跟踪问题,并提出了基于一种有限时间理论的自适应控制策略。首先,基于反演法将控制系统分为运动学回路和动力学回路两部分;在运动学回路,提出关于跟踪误差的快速终端滑模面(fast terminal sliding surface, FTSS),为实现跟踪误差在有限时间达到FTSS,设计了ASV速度的辅助控制律;在动力学回路,以速度辅助控制律为ASV速度的跟踪目标设计关于速度跟踪误差的FTSS,同时考虑外界干扰,设计了包含鲁棒项的自适应控制律,使得速度跟踪误差在有限时间内收敛于动力学回路FTSS附近的邻域;最后,基于船模的仿真实验证明了所设计控制策略的有效性。
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Adaptive finite time trajectory tracking for autonomous surface vehicle with unknown disturbance |
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| ZHU Qi-dan,MA Jun-da,LIU Zhi-lin. Adaptive finite time trajectory tracking for autonomous surface vehicle with unknown disturbance[J]. System Engineering and Electronics, 2016, 38(2): 368-374. DOI: 10.3969/j.issn.1001-506X.2016.02.20 |
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| Authors: | ZHU Qi-dan MA Jun-da LIU Zhi-lin |
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| Affiliation: | College of Automation, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | According to the problem of trajectory tracking control for an autonomous surface vehicle in the presence of unknown disturbance, and an adaptive methodology based on the finite time theory is proposed. Firstly, the control methodology is divided by backstepping into a kinematic control loop and a dynamic control loop. In the kinematic design, a fast terminal sliding surface (FTSS) is presented for the tracking error, and the auxiliary law of velocity is designed to derive the variables on the FTSS of the kinematic loop within a finite time. In the dynamic design, the auxiliary law of velocity is regarded as the tracking target and a FTSS is presented for the velocity tracking error. Then, a adaptive controller including the robust term is designed to derive the velocity tracking error in the small neighborhood of FTSS in finite time by considering external disturbance. The simulation experiment performed on a ship model is finally carried out to demonstrate the effectiveness of the proposed strategy. |
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