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首页> 外文期刊>IEEE Transactions on Systems, Man, and Cybernetics >Adaptive Robust Nonlinear Control Design for Course Tracking of Ships Subject to External Disturbances and Input Saturation
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Adaptive Robust Nonlinear Control Design for Course Tracking of Ships Subject to External Disturbances and Input Saturation

机译：受外部扰动和输入饱和影响的船舶航向自适应鲁棒非线性控制设计

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摘要

An adaptive robust control law is proposed for the course tracking problem of ships in this paper incorporating a Nussbaum function and an auxiliary dynamic system into the adaptive dynamic surface control (DSC) technique. The ship steering dynamics is described by the Norrbin nonlinear model with completely unknown control coefficient, parameter uncertainties, and unknown external disturbances and input saturation caused by the rudder constraint. The Nussbaum function is adopted to deal with completely unknown control coefficient and avoid the controller singularity problem. An auxiliary dynamic system is introduced to handle the effect of input saturation. The DSC technique makes the control law be simple to compute and easy to implement in engineering practice. It is proved that the proposed course tracking control law of ships makes the course tracking error be arbitrarily small by an appropriate choice of the design parameters and guarantees the uniform ultimate boundedness of all signals in the closed-loop ship course control system. Finally, simulation results on two ships and simulation comparison with an existing adaptive neural control scheme demonstrate the effectiveness and the superiority of the proposed control scheme.
机译：针对船舶航向跟踪问题，提出了一种自适应鲁棒控制律，将努斯鲍姆函数和辅助动力系统引入了自适应动态表面控制技术中。诺尔宾非线性模型描述了船舶的转向动力学特性，该模型具有完全未知的控制系数，参数不确定性以及未知的外部干扰和由舵约束引起的输入饱和。采用Nussbaum函数处理完全未知的控制系数，避免了控制器的奇异性问题。引入了一个辅助动态系统来处理输入饱和的影响。 DSC技术使控制律易于计算，并且易于在工程实践中实施。实践证明，所提出的船舶航向跟踪控制律通过适当选择设计参数，可以使航向跟踪误差任意减小，并保证了闭环航向控制系统中所有信号的最终极限一致。最后，在两艘船上的仿真结果以及与现有的自适应神经控制方案的仿真比较证明了所提出的控制方案的有效性和优越性。

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