状态测量不确定和动力学未知的无人艇固定时间容错控制

王宁; 高颖; 王仁慧

doi:10.16383/j.aas.c220482

状态测量不确定和动力学未知的无人艇固定时间容错控制

doi: 10.16383/j.aas.c220482

王宁^1,,
高颖^2,,
王仁慧^2,

1.
大连海事大学轮机工程学院大连 116026
2.
大连海事大学船舶电气工程学院大连 116026

基金项目: 国家自然科学基金 (52271306), 船舶总体性能创新研究开放基金 (31422120) 资助

详细信息

作者简介:
王宁：大连海事大学轮机工程学院教授. 主要研究方向为自主系统与控制, 智能绿色船舶, 海洋人工智能. 本文通信作者. E-mail: n.wang@ieee.org

高颖：大连海事大学船舶电气工程学院博士研究生. 主要研究方向为无人船优化控制, 强化学习. E-mail: lutyinggao2013@163.com

王仁慧：大连海事大学船舶电气工程学院硕士研究生. 主要研究方向为水面无人艇轨迹跟踪控制. E-mail: wrh1744754029@163.com

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出版历程
- 收稿日期: 2022-06-10
- 录用日期: 2022-10-29
- 网络出版日期: 2023-01-05
- 刊出日期: 2023-05-20

Fixed-time Fault-tolerance Control of an Unmanned Surface Vehicle With Uncertain Measurements and Unknown Dynamics

1.
Marine Engineering College, Dalian Maritime University, Dalian 116026
2.
Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026

Funds: Supported by National Natural Science Foundation of China (52271306) and Open Foundation for Innovative Research on Ship General Performance (31422120)

More Information

Author Bio:
WANG Ning　Professor at Marine Engineering College, Dalian Maritime University. His research interest covers autonomous systems and control, intelligent green ships, and marine artificial intelligence. Corresponding author of this paper

GAO Ying　Ph.D. candidate at Marine Electrical Engineering College, Dalian Maritime University. Her research interest covers unmanned vehicle optimization control and reinforcement learning

WANG Ren-Hui　Master student at Marine Electrical Engineering College, Dalian Maritime University. His main research interest is trajectory tracking control of unmanned surface vehicles

摘要

摘要: 针对含有推进器故障和状态测量不确定的无人艇(Unmanned surface vehicle, USV)系统, 提出一种基于双扰动观测器的固定时间容错跟踪控制(Double disturbance observer-based fixed-time fault-tolerance control, DDO-FxFC)方法. 设计两个固定时间扰动观测器, 分别估计状态测量不确定性产生的非匹配干扰和包含推进器故障的集总非线性, 同时自适应实时补偿未知观测误差; 采用测量位姿跟踪误差及其动态, 设计快速非奇异终端滑模面, 构建DDO-FxFC框架; 理论分析证明DDO-FxFC方法能够确保跟踪误差固定时间收敛, 其中收敛时间的上界独立于系统初始状态; 针对原型USV的仿真结果和综合对比验证所提出DDO-FxFC技术的有效性和优越性.
- 无人艇 /
- 测量不确定性 /
- 未知动力学 /
- 固定时间控制 /
- 容错控制
Abstract: In this paper, a double disturbance observer-based fixed-time fault-tolerance control (DDO-FxFC) scheme is developed for an unmanned surface vehicle (USV) in the presence of thruster faults and measurement uncertainties. To be specific, two fixed-time disturbance observers are devised to estimate the mismatching disturbances generated by measurement uncertainties and the lumped nonlinearities including thruster faults, respectively, while unknown estimation errors are compensated in an adaptively real-time manner. Furthermore, a fast nonsingular terminal sliding-mode using measurement tracking errors and their dynamics is deployed to build up the DDO-FxFC framework. Theoretical analysis proves that the DDO-FxFC scheme can ensure fixed-time convergence of tracking errors, whereby the upper bound of convergence time is independent of initial states. Simulation results and comprehensive comparisons on a prototype USV demonstrate the remarkable effectiveness and superiority of the proposed DDO-FxFC scheme.
- Unmanned surface vehicle (USV) /
- measurement uncertainty /
- unknown dynamics /
- fixed-time control /
- fault-tolerance control

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图 1 轨迹跟踪

Fig. 1 Trajectory tracking

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图 2 位姿跟踪误差

Fig. 2 Position tracking errors

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图 3 速度跟踪误差

Fig. 3 Velocity tracking errors

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图 4 控制输入

Fig. 4 Control inputs

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图 5 集总扰动观测

Fig. 5 The observation of lumped disturbances

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图 6 自适应增益变化

Fig. 6 The variation of adaptive gain

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表 1 Cybership II水动力参数

Table 1 Hydrodynamic parameters of the Cybership II

参数	取值	参数	取值	参数	取值
$ m $	23.800	$ Y_v $	−0.8612	$ X_{\dot{u}} $	−2.0
$ I_z $	1.760	$ Y_{\|v\|v} $	−36.2823	$ Y_{\dot{v}} $	−10.0
$ x_g $	0.046	$ Y_r $	0.1079	$ Y_{\dot{r}} $	0
$ X_u $	−0.7225	$ N_v $	0.1052	$ N_{\dot{v}} $	0
$ X_{\|u\|u} $	−1.3274	$ N_{\|v\|v} $	5.0437	$ N_{\dot{r}} $	−1.0
$ X_{uuu} $	1.255

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表 2 4种控制方案下积分绝对误差

Table 2 Integrated absolute errors of the four controllers

	$ {\rm IAE}_x $	$ {{\rm IAE}}_y $	$ {{\rm IAE}}_{\psi} $	$ {{\rm IAE}}_u $	$ {{\rm IAE}}_v $	$ {{\rm IAE}}_r $
FPFC	2.32	9.69	17.23	5.27	17.07	1.41
FAFC	1.07	4.13	1.92	1.96	2.09	1.54
RFTC	11.52	13.64	0.34	2.67	4.69	1.54
DDO-FxFC	1.79	2.53	1.61	1.50	0.64	2.08

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表 3 4种控制方案下积分时间绝对误差

Table 3 Integrated time absolute errors ofthe four controllers

	$ {\rm ITAE}_x $	$ {\rm ITAE}_y $	$ {\rm ITAE}_{\psi} $	$ {\rm ITAE}_u $	$ {\rm ITAE}_v $	$ {\rm ITAE}_r $
FPFC	17.12	44.49	39.26	23.20	42.91	11.64
FAFC	1.51	7.65	3.16	5.32	7.61	5.25
RFTC	10.97	26.48	1.95	11.79	5.62	1.11
DDO-FxFC	3.42	2.35	1.72	3.05	1.28	2.01

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