摘要
针对在无人船航向跟踪控制过程中海上通信带宽受限的问题,本文依据Terminal滑模控制方法,利用扩张状态观测器估计量化状态系统未建模动态及外界干扰,基于估计信息设计系统控制律,提出一种考虑状态和输入量化的无人船有限时间航向跟踪控制策略。仿真结果表明:在基于量化的控制环境下,所设计的航向跟踪控制方法能够保证无人船在快速跟踪理想航向的同时,跟踪误差收敛,且控制输入经过量化后执行器执行次数明显减少。因此,所设计的带有状态量化和输入量化的船舶航向跟踪控制策略是可行的,在实现有限时间内有效跟踪的同时,减轻了海上通信信号传输负担。
To address the problem of limited communication bandwidth at sea during course tracking control of unmanned surface vehicles,this paper introduces a finite-time heading tracking control scheme with state and input quantization for unmanned surface vehicles based on the terminal sliding-mode control method.This scheme utilizes the extended state observer to estimate the unmodeled dynamics of the quantized state system and external disturbances,designing the system control law based on the estimated information.Simulation results show that,under the quantization-based control environment,the proposed course tracking control strategy allows unmanned surface vehicles to track the desired course within a short period of time.The tracking error converges to a smaller residual set,and the number of actuator executions is substantially reduced once the control input is quantized.Therefore,the ship course tracking control strategy incorporating state and input quantization,as presented in this paper,is feasible.This strategy reduces the burden of maritime communication signal transmission while ensuring effective tracking within a limited time.
作者
宁君
马一帆
李志慧
李伟
NING Jun;MA Yifan;LI Zhihui;LI Wei(Navigation School,Dalian Maritime University,Dalian 116026,China;College of Information Technology,Jilin Normal University,Siping 136000,China)
出处
《哈尔滨工程大学学报》
北大核心
2025年第9期1701-1708,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金重点项目(51939001)
国家自然科学基金面上项目(61976033)
中央高校基本科研业务费项目(3132023135).
关键词
无人船
航向跟踪控制
扩张状态观测器
状态量化
输入量化
量化误差
TERMINAL滑模控制
有限时间
unmanned surface vehicle
ship course tracking control
extended state observer
state quantization
input quantization
quantization error
Terminal sliding-mode control
finite time
