[1]廖煜雷,庄佳园,庞永杰,等.单喷泵无人滑行艇航向的反步自适应滑模控制[J].智能系统学报,2012,7(03):246-250.
 LIAO Yulei,ZHUANG Jiayuan,PANG Yongjie,et al.Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet[J].CAAI Transactions on Intelligent Systems,2012,7(03):246-250.
点击复制

单喷泵无人滑行艇航向的反步自适应滑模控制(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第7卷
期数:
2012年03期
页码:
246-250
栏目:
出版日期:
2012-06-25

文章信息/Info

Title:
Backstepping adaptive sliding mode control for an unmanned planning craft course system with single waterjet
文章编号:
1673-4785(2012)03-0246-05
作者:
廖煜雷1庄佳园1庞永杰1杜鑫2
1.哈尔滨工程大学 水下智能机器人技术国防科技重点实验室,黑龙江 哈尔滨 150001;
2.总参陆航研究所,北京 100020
Author(s):
LIAO Yulei1 ZHUANG Jiayuan1 PANG Yongjie1 DU Xin2
1.National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China;
2.Army Aviation Institute, Beijing 100020, China
关键词:
单泵喷水推进器无人滑行艇航向控制滑模控制backstepping法
Keywords:
single waterjet unmanned planning craft course control sliding mode control backstepping method
分类号:
TP273;U664
文献标志码:
A
摘要:
针对单泵喷水推进型无人滑行艇航向跟踪的非线性系统控制问题,对无人滑行艇的运动稳定性分析表明,其具有水平面内的自动稳定性.考虑建模误差和外界干扰力影响下的滑行艇运动响应模型,基于backstepping方法和滑模控制理论,提出了一种自适应滑模控制律.利用Lyapunov函数,证明该控制律保证了航向跟踪系统的全局渐近稳定性.仿真对比结果验证了所提出控制器的有效性.
Abstract:
The coursetracking nonlinear control problem of an unmanned planning craft with single waterjet was addressed in this paper. Based on motion stability analysis of the unmanned planning craft, the system had automatic stability on the horizontal plane. Considering the motion response model affected by of the modeling errors and external disturbances, an adaptive sliding mode control law was proposed via the sliding mode control theory and backstepping method. By means of the Lyapunov function, it was proven that the proposed control law can render the coursetracking system globally asymptotically stable at the origin. Simulations results illustrate the effectiveness of the proposed method. 

参考文献/References:

[1]SKJETNEA R, FOSSEN T I, KOKOTOVIC P V. Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory[J]. Automatica, 2005, 41(2): 289298.
[2]HU S S, YANG P H, JUANG J Y, et al. Robust nonlinear ship course keeping control by H∞ I/O linearization and μsynthesis[J]. International Journal of Robust and Nonlinear Control, 2002, 13(1): 5570.
[3]刘雨,郭晨,吕进.基于backstepping的船舶航向滑模控制[J].中南大学学报:自然科学版, 2007, 38(增刊1): 278279.
LIU Yu,GUO Chen,L Jin. Slidingmode control of ship course tracking based on backstepping[J]. Journal of Central South University: Science and Technology, 2007, 38(suppl.1): 278279.
[4]朱齐丹,周芳,赵国良,等.基于反步法和滑模观测器的船舶航向控制[J].华中科技大学学报:自然科学版, 2009, 37(4): 122125.
ZHU Qidan, ZHOU Fang, ZHAO Guoliang, et al. Control of ship courses using backstepping and sliding mode observer[J]. Journal of Huazhong University of Science and Technology: Natural Science Edition, 2009, 37(4): 122125.
[5]汪洋,郭晨,孙富春,等.基于动态神经模糊算法的船舶航向自适应控制[J].哈尔滨工程大学学报, 2009, 30(10): 11591164.
WANG Yang, GUO Chen, SUN Fuchun, et al. Adaptive control of ship course using a dynamic neural fuzzy algorithm[J]. Journal of Harbin Engineering University, 2009, 30(10): 11591164.
[6]罗伟林,邹早建,李铁山.船舶航向非线性系统鲁棒跟踪控制[J].控制理论与应用, 2009, 26(8): 893895.
LUO Weilin, ZOU Zaojian, LI Tieshan. Robust tracking control of nonlinear ship steering[J]. Control Theory & Applications, 2009, 26(8): 893895.
[7]袁雷,吴汉松.船舶航向非线性系统的多滑模自适应模糊控制[J].智能系统学报, 2010, 5(4): 308312.
YUAN Lei, WU Hansong. Multiple sliding mode adaptive fuzzy controller for nonlinear marine autopilot systems[J]. CAAI Transactions on Intelligent Systems, 2010, 5(4): 308312.
[8]YU Z, BAO X, NONAMI K. Course keeping control of an autonomous boat using low cost sensors[J]. Journal of System Design and Dynamics, 2008, 2(1): 389400.
[9]YU Z, BAO X, NONAMI K. Mixed H2/H∞ based course following control for a small low cost autonomous boat[J]. ICGST International Journal on Automatic Control and Systems Engineering, 2007, 7(1): 5159.
[10]KUMARAWADU S, KUMARA K J C. On the speed control for automated surface vehicle operation[C]//The Third International Conference on Information and Automation for Sustainability. Melbourne, Australia, 2007: 135140. 
[11]BAO X, NONAMI K, YU Z. Combined yaw and roll control of an autonomous boat[C]//2009 IEEE International Conference on Robotics and Automation. Kobe, Japan, 2009: 188193.
[12]LIAO Yulei, PANG Yongjie, WAN Lei. Combined speed and yaw control of underactuated unmanned surface vehicles[C]//The 2nd International Asia Conference on Informatics in Control, Automation and Robotics. Wuhan, China, 2010: 157161.
[13]范尚雍.船舶操纵性[M].北京:国防工业出版社, 2002: 3039.
[14]刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社, 2002: 240247.

备注/Memo

备注/Memo:
收稿日期: 2010-12-25.网络出版日期:2012-04-23.
基金项目:国家自然科学基金资助项目(50909025/E091002);中国博士后科学基金资助项目(20080440838).
通信作者:廖煜雷.E-mail: liaoyulei@hrbeu.edu.cn.
作者简介:
廖煜雷,男,1985年生,博士研究生,主要研究方向为USV基础运动控制和欠驱动船舶运动控制,发表学术论文10余篇.
庄佳园,男,1984年生,博士研究生,主要研究方向为水面USV路径规划和运动控制.
庞永杰,男,1955年生,教授,博士生导师,第3、4届海洋工程学会理事,主要研究方向为水下机器人总体设计与运动控制技术.目前主持和参与省部级以上科研项目多项,获得国家科技进步二等奖1次,国防科学技术一、二、三等奖各1次,发表学术论文50余篇.
更新日期/Last Update: 2012-09-05