[1]赵杰,蔡成涛,乔人杰.未知扰动下的无人水面艇有限时间动态预设性能控制[J].智能系统学报,2023,18(4):849-857.[doi:10.11992/tis.202209031]
　ZHAO Jie,CAI Chengtao,QIAO Renjie.Finite-time dynamic prescribed performance control for surface unmanned vehicles with unknow disturbances[J].CAAI Transactions on Intelligent Systems,2023,18(4):849-857.[doi:10.11992/tis.202209031]
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未知扰动下的无人水面艇有限时间动态预设性能控制

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 18 期数: 2023年第4期 页码: 849-857 栏目: 人工智能院长论坛 出版日期: 2023-07-15
Title:
Finite-time dynamic prescribed performance control for surface unmanned vehicles with unknow disturbances
作者:
赵杰1, 蔡成涛1,2,3,4, 乔人杰1
1. 哈尔滨工程大学 智能科学与工程学院, 黑龙江 哈尔滨 150001;
2. 哈尔滨工程大学 计算机科学与技术学院, 黑龙江 哈尔滨 150001;
3. 哈尔滨工程大学 船海装备智能化技术与应用教育部重点实验室, 黑龙江 哈尔滨 150001;
4. 哈尔滨工程大学 电子政务建模仿真国家工程实验室, 黑龙江 哈尔滨 150001
Author(s):
ZHAO Jie1, CAI Chengtao1,2,3,4, QIAO Renjie1
1. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China;
2. College of Computer Science And Technology, Harbin Engineering University, Harbin 150001, China;
3. Key laboratory of Intelligent Technology and Application of Marine Equipment, Harbin Engineering University, Ministry of Education, Harbin 150001, China;
4. Modeling and Emulation in E-Government National Engineering Laboratory, Harbin Engineering University, Harbin 150001, China
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
Keywords:
unmanned surface vehicles; prescribed performance; dynamic prescribed performance function; trajectory tracking; finite time; extended-state-observer; super-twisting integral terminal sliding mode; anti-disturbance
分类号:
TP242
DOI:
10.11992/tis.202209031
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。
Abstract:
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.
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备注/Memo

收稿日期:2022-09-16。
基金项目: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）.
作者简介:赵杰，博士研究生，主要研究方向为水面无人艇运动控制和路径规划;蔡成涛， 教授，博士生导师，哈尔滨工程大学计算机科学与技术学院院长，国家级人才，主要研究方向为智能船舶控制、图像处理、全景视觉应用。获得国防科技进步一等奖3项、海洋工程科技进步二等奖1项、黑龙江省科技进步二等奖3项，主持国家及省市自然科学基金项目、基础科研项目等50余项。授权发明专利30余项。发表学术论文80余篇;乔人杰， 博士研究生，主要研究方向为全景视觉应用
通讯作者:蔡成涛.E-mail:caichengtao@hrbeu.edu.cn

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