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首页> 外文期刊>Ocean Engineering >Pre-filtered sliding mode control for nonlinear ship steering associated with disturbances
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Pre-filtered sliding mode control for nonlinear ship steering associated with disturbances

机译：带有干扰的非线性船舶转向的预滤波滑模控制

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摘要

This paper proposes a pre-filter based sliding mode approach to control the steering system in ocean going vessels. The stability conditions of vessel steering in linear and nonlinear mathematical formations are analyzed. The linear vessel steering system is derived considering the second-order Nomoto model, modified to include nonlinear vessel steering conditions: the stable and unstable steering conditions. Then the stability conditions of the steady-state vessel steering system are analyzed by the Routh's stability criteria. The stability conditions of the closed-loop nonlinear vessel steering system including a sliding mode controller are analyzed by the Lyapunov stability theorem. The proposed pre-filter based sliding mode controller can be implemented in nonlinear vessel steering even under parameter uncertainties and un-modeled dynamics, and can quantify the system response and the performance tradeoffs. Furthermore, an under-actuated system with the dynamics that are indirectly actuated and nonlinearly coupled can also be globally stabilized by the sliding mode controller. In addition, a P1D controller is also considered as a comparison mechanism in this study. Finally, the two control algorithms are simulated, successful results are reported and the superior performance of the sliding mode controller is illustrated in this study.
机译：本文提出了一种基于预过滤器的滑模方法来控制远洋船舶的转向系统。分析了线性和非线性数学形式下船舶操纵的稳定性条件。线性船舶转向系统是在考虑了二阶Nomoto模型的基础上得出的，该模型被修改为包括非线性船舶转向条件：稳定和不稳定的转向条件。然后，通过劳斯的稳定性标准对稳态船舶操纵系统的稳定性条件进行了分析。利用Lyapunov稳定性定理分析了包括滑模控制器的非线性闭环船舶操纵系统的稳定性条件。所提出的基于预滤波器的滑模控制器即使在参数不确定和未建模的动力学情况下也可以在非线性船舶操纵中实现，并且可以量化系统响应和性能折衷。此外，具有间接驱动和非线性耦合的动态特性的欠驱动系统也可以通过滑模控制器进行整体稳定。此外，在本研究中，P1D控制器也被视为比较机制。最后，对两种控制算法进行了仿真，报告了成功的结果，并说明了滑模控制器的优越性能。

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