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Straight-Path Following of Underactuated Ships Using Dynamic Nonlinear Sliding Mode

机译：动态非线性滑模对欠驱动船的直线跟踪

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To solve the straight-path following problem of underactuated surface ships with parametric uncertainties and external disturbances,a dynamic nonlinear sliding mode control method is presented.Integrated with simple increment feedback,the controller is proved to stabilize the underactnated ship's orientation and cross-track without uncertainty estimation.Problems of states constraints and actuator saturation are also solved.Numerical simulation results on a full nonlinear hydrodynamic model of a training ship are presented to validate the invariability and excellent robustness of the proposed controller.

机译：针对具有参数不确定性和外部干扰的欠驱动水面舰艇的直线跟踪问题，提出了一种动态非线性滑模控制方法。结合简单的增量反馈，证明了该控制器能够稳定欠驱动舰的定向和交叉航迹。不确定性估计。还解决了状态约束和执行器饱和的问题。在训练船的全非线性流体动力学模型上给出了数值模拟结果，以验证所提出控制器的不变性和出色的鲁棒性。

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来源
《Asia Navigation Conference 2008》|2008年|39-46|共8页
会议地点 Shanghai(CN);Shanghai(CN)
作者
WEI Dong; rnYANG Juntao; rnXU Fang;
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作者单位

BU Renxiang@Navigation College,Dalian Maritime University #1,linghai road,Dalian,116026,China--LIU Zhengjiang@Navigation College,Dalian Maritime University #1,linghai road,Dalian,116026,China--YANG Linjia@Navigation College,Dalian Maritime University #1,linghai road,Dalian,116026,China--;

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原文格式 PDF
正文语种 eng
中图分类船舶驾驶、航海学;
关键词
navigation; automation; underactuated ships; path following; sliding mode control;

机译：导航;自动化;驱动不足的船舶;路径跟踪;滑模控制;

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专利

1. Adaptive Neural Backstepping Sliding Mode Heading Control for Underactuated Ships with Drift Angle and Ship-Bank Interaction [J] . Xue Han Computational intelligence and neuroscience . 2020,第4期

机译：具有漂移角和船体交互的欠渎船的自适应神经背头滑动模式标题控制
2. Adaptive Fuzzy Hierarchical Sliding-Mode Control for the Trajectory Tracking of Uncertain Underactuated Nonlinear Dynamic Systems [J] . IEEE Transactions on Fuzzy Systems . 2014,第2期

机译：不确定欠驱动非线性动力系统轨迹跟踪的自适应模糊层次滑模控制
3. Practical proportional integral sliding mode control for underactuated surface ships in the fields of marine practice [J] . Sun Zhijian, Zhang Guoqing, Yi Bowen, Ocean Engineering . 2017,第sepa15期

机译：在海洋实践领域中，用于欠驱动水面舰艇的实用比例积分滑模控制
4. Straight-Path Following of Underactuated Ships Using Dynamic Nonlinear Sliding Mode [C] . Asia Navigation Conference . 2008

机译：使用动态非线性滑动模式的欠压船舶的直接路径
5. Analytical modeling, analysis and robust control of uncertain nonlinear dynamical systems by using sliding mode control (SMC) and quantitative feedback theory (QFT). [D] . Rajapakse, Nuraj I. 2006

机译：利用滑模控制（SMC）和定量反馈理论（QFT）对不确定的非线性动力系统进行分析建模，分析和鲁棒控制。
6. Adaptive Neural Backstepping Sliding Mode Heading Control for Underactuated Ships with Drift Angle and Ship-Bank Interaction [O] . Xue Han 2020

机译：具有漂移角和船体交互的欠渎船的自适应神经背头滑动模式标题控制
7. Active Disturbance Rejection with Sliding Mode Control Based Course and Path Following for Underactuated Ships [O] . Ronghui Li, Tieshan Li, Renxiang Bu, 2013

机译：基于滑模控制的课程和路径为欠压船舶的主动扰动抑制
8. Fully Nonlinear, Dynamically Consistent Numerical Model for Solid-Body Ship Motion. I. Ship Motion with Fixed Heading. [R] . Lin, R. Q., Kuang, W. 2011

机译：固体船舶运动的全非线性，动态一致数值模型。 I.具有固定航向的船舶运动。

Straight-Path Following of Underactuated Ships Using Dynamic Nonlinear Sliding Mode

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