Adaptive Finite Time Dynamic Positioning Control of Fully-actuated Ship With Servo System Uncertainties
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摘要: 针对全驱动水面船舶动力定位控制问题，假设船舶模型参数摄动和外部扰动的上界已知，通过构造误差信号的非奇异终端滑模面（Non-singular terminal sliding mode，NTSM）提出了一种自适应终端滑模的控制方法.同时考虑伺服系统增益不确定问题，对未知的推力系数矩阵的倒数进行参数自适应，确保设计的控制器能使得船舶的位置及艏向角在有限时间内收敛于期望值，且能保证闭环系统实际有限时间稳定（Practical finite-time stable，PFS）.利用一艘供给船进行数值仿真研究，说明了设计的船舶动力定位自适应终端滑模控制律的有效性.Abstract: In order to tackle the dynamic positioning problem of fully actuated ships, an adaptive terminal sliding mode control scheme is proposed by assuming that the upper bound of ship model's uncertainties and environmental disturbances are known and by constructing the non-singular terminal sliding manifold (NTSM) through error dynamics. Considering the servo system gain uncertainties, the unknown thrust constant matrix is transformed into reciprocal and parametric adaptive method is used to make sure that the position and yaw angle of fully actuated ships can converge to the desired values in a finite time, and the closed-loop system is practically finite-time stable (PFS). Simulation results of a supply vessel show the effectiveness of the adaptive terminal sliding mode control scheme.1) 本文责任编委 季海波
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图 2 船舶的位置和艏向角$x$, $y$, $\psi$历时变化曲线
Fig. 2 Position and orientation variables $x$, $y$, $\psi $ under different control laws
图 3 船舶速度$u$, $v$, $r$历时变化曲线
Fig. 3 The kinematic variables $u$, $v$, $r$ under different control laws
图 5 增益不确定估计参数$\hat{\lambda}_1$, $\hat{\lambda}_2$, $\hat{\lambda}_3$, $\hat{\lambda}_4$历时变化曲线
Fig. 5 Curves of estimations for gain\\ uncertainties $\hat{\lambda}_1$, $\hat{\lambda}_2$, $\hat{\lambda}_3$, $\hat{\lambda}_4$
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