[1]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 Han song.Multiple sliding mode adaptive fuzzy controller for nonlinear marine autopilot systems[J].CAAI Transactions on Intelligent Systems,2010,5(4):308-312.
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YUAN Lei,WU Han song.Multiple sliding mode adaptive fuzzy controller for nonlinear marine autopilot systems[J].CAAI Transactions on Intelligent Systems,2010,5(4):308-312.
船舶航向非线性系统的多滑模自适应模糊控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
5
期数:
2010年第4期
页码:
308-312
栏目:
学术论文—智能系统
出版日期:
2010-08-25
- Title:
- Multiple sliding mode adaptive fuzzy controller for nonlinear marine autopilot systems
- 文章编号:
- 1673-4785(2010)04-0308-05
- 分类号:
- TP273；U664
- 文献标志码:
- A
- 摘要:
- 针对参数未知的船舶航向非线性控制系统数学模型，在考虑舵机伺服机构特性的情况下，船舶航向控制问题就成为一个虚拟控制系数未知的非匹配不确定非线性控制问题.基于多滑模设计方法和模糊逻辑系统的逼近能力，提出了一种多滑模自适应模糊控制算法，通过引入非连续投影算法和积分型Lyapunov函数，提高了系统在抑制参数漂移、控制器奇异等方面的能力.借助Lyapunov函数证明了所设计控制器使最终的闭环非匹配不确定船舶运动非线性系统中的所有信号有界，且跟踪误差收敛到零.仿真研究表明：该算法与传统的PID控制相比，具有较好的跟踪能力和自适应能力.
- Abstract:
- When a ship course controller must deal with unknown parameters, the maneuvers of the ship must be described using an unmatched and uncertain nonlinear mathematical model with unknown virtual control coefficients and unknown parameters. To deal with this situation, an adaptive fuzzy control algorithm with multiple sliding modes was proposed. It combined multiple sliding mode design technology with the approximation capability of a fuzzy logic system. In order to solve the problem of parameter drift and the controller’s singularity problem, a noncontinuous projection algorithm and an integraltype Lyapunov function were employed in the proposed algorithm. By means of the Lyapunov function, it was theoretically proven that the proposed controller makes all signals in the resulting closedloop adaptive system uniformly bounded, with tracking error converging to zero. The simulation results showed that, compared to conventional proportionalintegralderivative (PID) controllers, the controller discussed in this paper provided better adaptability and tracking capabilities.
- 参考文献/References:
-
［1］CHENG Jin, YI Jiangqiang, ZHAO Dongbin. Design of a sliding mode controller for trajectory problem of marine vessels\[J\].IET Control Theory and Applications, 2007， 1（1）：37-41.
［2］杨盐生. 舶航向非线性系统的输出反馈鲁棒控制\[J\].交通运输工程学报，2002, 2(1): 118-121.
YANG Yansheng. Output feedback robust control algorithm applied to ship steering autopilot with uncertain nonlinear system\[J\].Journal of Traffic and Engineering, 2002, 2(1): 118121.
［3］张松涛，任光.基于反馈线性化的船舶航向保持模糊自适应控制\[J\].交通运输工程学报,2005, 5(4): 72-76.
ZHANG Songtao, REN Guang. Fuzzy adaptive control for ship autopilot based on backstepping technique \[J\].Journal of Traffic and Engineering, 2005, 5(4): 72-76.
［4］杜佳璐,郭晨,张显库.船舶运动航向自适应非线性控制的仿真研究\[J\].系统仿真学报, 2005,17(6):1445-1448.
DU Jialu, GUO Chen，ZHANG Xianku. Simulation studies on adaptive nonlinear control of ship motion course\[J\].Journal of System Simulation， 2005, 17(6): 1445-1448.
［5］陈刚, 孙跃.非匹配非线性系统多滑模模糊控制\[J\].系统仿真学报，2007，19(18):4182-4185.
CHEN Gang, SUN Yue. Multiple sliding mode fuzzy control of nonlinear systems with mismatched uncertain\[J\].Journal of System Simulation, 2007, 19(18): 4182-4185.
［6］LIN F J, SHEN P H, HSU S P. Adaptive backstepping sliding mode control for linear inductionmotor\[J\].IEEE Proceedings Electric Power Application, 2002, 14(9): 184-194.
［7］CHENG G, WANG S. Robust and adaptive backstepping control for nonlinear systems using fuzzy logic systems \[J\].Lecture Notes in Artificial Intelligence, 2005, 3614:452-461.
［8］ YAO B. High performance adaptive robust control of nonlinear systems: a general framework and new schemes\[C\]//IEEE Proc 36th Conf of Decision Contr. San Diego, 1997: 2489-2494.
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备注/Memo
收稿日期：2009-12-03.
基金项目：国家自然科学基金资助项目(60974136).
通信作者：袁 雷.E-mail:yuanl886@163.com.
作者简介：
袁 雷，男，1985年生，硕士研究生，主要研究方向为船舶运动非线性控制与仿真研究，发表学术论文3篇.
吴汉松，男，1954年生，教授，主要研究方向为非线性系统的变结构控制、智能控制以及最优控制，近几年来，发表学术论文40余篇.
更新日期/Last Update:
2010-09-20