摘要
本文提出了一种具有动态预设性能的有限时间控制方案,用于解决具有不确定动态和未知时变海洋环境扰动的无人水面艇(unmanned surface vehicles,USVs)的轨迹跟踪问题。传统预设性能采用静态预设性能函数,当外部扰动较大时,跟踪误差有超出预设性能边界的风险。本文设计一种新型的动态预设性能函数,使得USVs跟踪误差始终保持在预设的边界内;基于齐次积分滑模面、有限时间扩张状态观测器和超螺旋积分滑模控制,提出了一种有限时间控制算法。该算法可以实现跟踪误差快速收敛和有界扰动连续补偿,提高了系统鲁棒性并削弱了滑模抖振现象。理论分析证明了USVs闭环系统的全局有限时间稳定性,仿真及比较结果验证了所设计控制方案的有效性和优越性。
In this paper,a finite-time control scheme with dynamic prescribed performance is proposed to solve the trajectory tracking problem of unmanned surface vehicles(USVs)with uncertain dynamics and unknown time-varying ocean environment disturbances.The conventional prescribed performance adopts a static prescribed performance function,and there is a risk that the tracking error will exceed the prescribed performance boundaries set when external disturbance is large.A new dynamic prescribed performance function is proposed to keep the USVs tracking error within a prescribed range.The proposed finite-time control scheme is based on a combination of homogeneous integral sliding mode surface,finite-time extended state observer and super-twisting integral sliding mode control.The algorithm can achieve fast convergence of tracking errors and continuous compensation of bounded disturbances,improving robustness and reducing sliding mode chatter.The theoretical analysis demonstrates the global finite-time stability of the USVs closed-loop system,and the simulation and comparison results verify effectiveness and superiority of the designed control scheme.
作者
赵杰
蔡成涛
乔人杰
ZHAO Jie;CAI Chengtao;QIAO Renjie(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;College of Computer Science And Technology,Harbin Engineering University,Harbin 150001,China;Key laboratory of Intelligent Technology and Application of Marine Equipment,Harbin Engineering University,Ministry of Education,Harbin 150001,China;Modeling and Emulation in E-Government National Engineering Laboratory,Harbin Engineering University,Harbin 150001,China)
出处
《智能系统学报》
CSCD
北大核心
2023年第4期849-857,共9页
CAAI Transactions on Intelligent Systems
基金
国家重点研发项目(2019YFE0105400)
船舶总体性能创新研究开放基金项目(31422117)。
关键词
水面无人艇
预设性能
动态预设性能函数
轨迹跟踪
有限时间
扩张状态观测器
超螺旋积分滑模
抗扰动
unmanned surface vehicles
prescribed performance
dynamic prescribed performance function
trajectory tracking
finite time
extended-state-observer
super-twisting integral terminal sliding mode
anti-disturbance
