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首页> 外文会议>2011 International Conference on Mechatronic Science, Electric Engineering and Computer >Sliding mode control based on passive nonlinear observer for dynamic positioning vessels
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Sliding mode control based on passive nonlinear observer for dynamic positioning vessels

机译：基于被动非线性观测器的动态定位船滑模控制

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摘要

An observer sliding mode controller is presented for dynamic positioning vessels. The proposed controller is robust to variations in environmental conditions and unmodeled components. The motions of the ship in real world contain the low-frequency and high-frequency parts. The high-frequency motions are harmful or deathful for the controller and may cause the divergence of the system. To overcome the problem, the passive nonlinear observer is adopted to eliminate the high-frequency data in the position and heading. Moreover, the observer can also estimate the low-frequency motions of the ship. Since the model of the motion is strongly nonlinear, the sliding mode technique is appropriate and simple because it can use the nonlinear terms directly when designing the controller. In order to reduce the chattering of the controller, the sign function is replaced by the saturation function. The simulation results indicate the validity of the controller.
机译：提出了用于动态定位船的观察者滑模控制器。所提出的控制器对于环境条件和未建模组件的变化具有鲁棒性。现实世界中船舶的运动包含低频和高频部分。高频运动对控制器有害或致命，并可能导致系统发散。为了克服这个问题，采用了被动式非线性观测器来消除位置和航向中的高频数据。此外，观察者还可以估计船舶的低频运动。由于运动模型是强非线性的，因此滑模技术是适当且简单的，因为它在设计控制器时可以直接使用非线性项。为了减少控制器的抖动，将符号功能替换为饱和功能。仿真结果表明了控制器的有效性。

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