推进器饱和约束的水面无人艇固定时间精准跟踪控制
针对复杂扰动、完全未知系统动态以及推进器饱和约束的水面无人艇高精度跟踪控制问题,提出一种基于固定时间非奇异终端滑模的无模型固定时间精准跟踪控制(MFPTC)方案.首先,设计有限时间集总观测器,精确重构和补偿集总未知项;其次,引入自适应辅助系统消除推进器饱和特性,使得MFPTC方案在饱和约束下实现期望时间内对预定轨迹的精准跟踪;进而,基于反正切函数构造固定时间幂次趋近律,加快滑模变量收敛速度且有效削弱控制抖振;最后,采用CyberShip Ⅱ实验模型进行仿真研究,结果验证所提出MFPTC方案的有效性与优越性....
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| Published in | 控制理论与应用 Vol. 40; no. 1; pp. 55 - 64 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | Chinese |
| Published |
大连海事大学 轮机工程学院,辽宁大连116026%大连海事大学船舶电气工程学院,辽宁大连116026
2023
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1000-8152 |
| DOI | 10.7641/CTA.2022.10778 |
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| Abstract | 针对复杂扰动、完全未知系统动态以及推进器饱和约束的水面无人艇高精度跟踪控制问题,提出一种基于固定时间非奇异终端滑模的无模型固定时间精准跟踪控制(MFPTC)方案.首先,设计有限时间集总观测器,精确重构和补偿集总未知项;其次,引入自适应辅助系统消除推进器饱和特性,使得MFPTC方案在饱和约束下实现期望时间内对预定轨迹的精准跟踪;进而,基于反正切函数构造固定时间幂次趋近律,加快滑模变量收敛速度且有效削弱控制抖振;最后,采用CyberShip Ⅱ实验模型进行仿真研究,结果验证所提出MFPTC方案的有效性与优越性. |
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| AbstractList | 针对复杂扰动、完全未知系统动态以及推进器饱和约束的水面无人艇高精度跟踪控制问题,提出一种基于固定时间非奇异终端滑模的无模型固定时间精准跟踪控制(MFPTC)方案.首先,设计有限时间集总观测器,精确重构和补偿集总未知项;其次,引入自适应辅助系统消除推进器饱和特性,使得MFPTC方案在饱和约束下实现期望时间内对预定轨迹的精准跟踪;进而,基于反正切函数构造固定时间幂次趋近律,加快滑模变量收敛速度且有效削弱控制抖振;最后,采用CyberShip Ⅱ实验模型进行仿真研究,结果验证所提出MFPTC方案的有效性与优越性. |
| Author | 王宁 王仁慧 鲁挺 |
| AuthorAffiliation | 大连海事大学 轮机工程学院,辽宁大连116026%大连海事大学船舶电气工程学院,辽宁大连116026 |
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| Author_FL | WANG Ning LU Ting WANG Ren-hui |
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| Keywords | 推进器饱和 无模型固定时间跟踪控制 非奇异终端滑模 有限时间观测器 水面无人艇 |
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| Title | 推进器饱和约束的水面无人艇固定时间精准跟踪控制 |
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