[1]杨晓武,石 春.输入受限无人帆船自适应航向跟踪控制[J].机械与电子,2023,41(02):27-31.
　YANG Xiaowu,SHI Chun.Adaptive Course Tracking Control of Input Constrained Unmanned Sailboat[J].Machinery & Electronics,2023,41(02):27-31.
点击复制

输入受限无人帆船自适应航向跟踪控制()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年02期
页码:
27-31
栏目:
自动控制与检测
出版日期:
2023-02-28

文章信息/Info

Title:
Adaptive Course Tracking Control of Input Constrained Unmanned Sailboat
文章编号:
1001-2257 ( 2023 ) 02-0027-05
作者:
杨晓武 1 ; 石 春 1 ; 2
1. 贵州理工学院人工智能与电气工程学院,贵州 贵阳 550003 ;
2. 中交瑞通建筑工程有限公司,北京 100176
Author(s):
YANG Xiaowu1 ;  SHI Chun1
( 1.College of Artificial Intelligence and Electrical Engineering , Guizhou Institute of Technology , Guiyang 550003 , China ;
2.Zhongjiao Ruitong Construction Engineering Co. , Ltd. , Beijing 100176 , China )
关键词:
输入受限; RBF 神经网络;  Nussbaum 增益技术; 滑模控制技术; 鲁棒跟踪控制
Keywords:
constrained input ;  RBF neural network ;  Nussbaum gain technique ;  sliding mode control ;  ro- bust tracking control
分类号:
U661.33
文献标志码:
A
摘要:
针对带有输入受限且存在未知控制系数约束情形下,考虑了具有未知模型和风、浪等外界干扰的无人船航向跟踪控制问题,提出一种受限控制输入约束下的跟踪控制方法。该方法运用 RBF 神经网络对未知模型进行在线逼近,利用 Nussbaum 自适应增益技术解决未知控制系数问题。根据滑模控制理论,设计具有指数趋近律的鲁棒控制项,保证所得误差闭环系统快速响应且最终趋向 0 。为弱化传统滑模控制产生的抖振问题,将符号函数替换成饱和函数使控制输入变得平滑。引入一种误差辅助系统,构建了帮助误差闭环系统输入退出饱和机制。通过李雅普诺夫稳定性理论,给出了跟踪控制方法的稳定性数学分析过程,证明误差闭环跟踪控制系统的所有信号最终一致有界性。最后通过仿真结果验证了所得理论的有效性。
Abstract:
A saturated tracking control approach is proposed for the course tracking control of unmanned sailboats with unknown models , unknown control direction , and external disturbances such as wind and waves.In this method , RBF neural network is used to approximate the unknown model online , and a Nussbaum adaptive gain technique is introduced to solve the problem with an unknown control coefficient. According to the sliding mode control theory , a robust control term with exponential reaching law is designed to ensure that the resulting error closed-loop system responds quickly and eventually approaches zero.In order to attenuate the chattering caused by traditional sliding mode control , the sign function is replaced by the saturation function to make the smoothness of the control input.Furthermore , considering the bounded constraint of the physical output of the actuator , an error auxiliary system is introduced to construct an input exit saturation mechanism for the resulting error closed-loop system.Based on Lyapunov stability theory , the stability mathematical analysis of the tracking control method is presented.It is shown that all the error signals in closed-loop tracking control systems are ultimately uniformly boundedness.Finally , the simulation results are provided to corroborate the effectiveness of the obtained theory.

参考文献/References:

[ 1 ] 邹韵,卜仁祥,李宗宣 . 考虑横向漂移的船舶路径跟踪自抗扰控[ J ] . 船舶工程, 2020 , 42 ( 10 ): 101-104.

[ 2 ] 伊戈,刘忠,张建强,等 . 基于改进终端滑模控制的 USV 航向跟踪控制方法 [ J ] . 电光与控制, 2020 , 27( 10 ): 12-16 , 21.
[ 3 ] 张雪飞,袁鹏,谭俊哲,等 . 基于模糊 PID 的无人帆船航向控制方法[ J ] . 中国舰船研究, 2019 , 14 ( 6 ): 15-21.
[ 4 ] 吴博,周杰,宋小明,等 . 无人艇艏向自适应离散滑模控制器设计[ J ] . 中国航海, 2021 , 44 ( 3 ): 126-133.
[ 5 ] 张圆,沈智鹏 . 均匀风下帆船的操纵可控区[ J ] . 大连海事大学学报,2019 , 45 ( 1 ): 19-25.
[ 6 ] 李鑫滨,王鹏,骆曦,等 . 输入受限下欠驱动 AUV 轨迹踪滑模控制[ J ] . 水下无人系统学报, 2022 , 30 ( 1 ): 44-53.
[ 7 ] 沈智鹏,邹天宇,郭坦坦 . 输入受限的非仿射无人帆船航向系统自适应动态面控制[ J ] . 控制 理 论与 应用,2019 , 36 ( 9 ): 1461-1468.
[ 8 ] WU Y , XIE X J.Robust adaptive control for state constrained nonlinear systems with input saturation and unknown control direction [ J ] .IEEE Transactions on systems , man , and cybernetics : systems , 2021 , 51( 2 ): 1192-1202.
[ 9 ] YANG X W , FAN X P , LONG F , et al.Safety control using barrier certificates for multiagent systems with input saturation and formation constraints [ J ] .Journal of the franklin institute , 2022 , 359 ( 11 ): 5433-5457.
[ 10 ] 李鑫滨,王鹏,骆曦,等 . 输入受限下欠驱动 AUV 轨迹跟踪滑模控制[ J ] . 水下无人系统学报,2022 , 30 ( 1 ):44-53.
[ 11 ] YANG X W , FAN X P.Robust formation control for uncertain multiagent systems with an unknown control direction and disturbances [ J ] .IEEE Access , 2019 , 7 : 106439-106452.
[ 12 ] WU Y , XIE X J.Robust adaptive control for state constrained nonlinear systems with input saturation and unknown control direction [ J ] .IEEE Transactions on systems , man , and cybernetics : systems , 2021 , 51( 2 ): 1192-1202.
[ 13 ] ZHAO K , SONG Y , CHEN L , et al.Adaptive asymptotic tracking with global performance for nonlinear systems with unknown control directions [ J ] .IEEE Transactions on automatic control , 2022 , 67 ( 3 ): 1566-1573.
[ 14 ] MA H , REN H , ZHOU Q , et al.Approximation based Nussbaum gain adaptive control of nonlinear systems with periodic disturbances [ J ] .IEEE Transactions on systems , man , and cybernetics : systems ,2022 , 52 ( 4 ): 2591-2600.
[ 15 ] RUAN Z , YANG Q , GE S S , et al.Adaptive fuzzy fault tolerant control of uncertain MIMO nonlinear systems with output constraints and unknown control directions [ J ] .IEEE Transactions on fuzzy systems , 2022 , 30 ( 5 ): 1224-1238.
[ 16 ] WANG C , GUO L , WEN C , et al.Adaptive neural network control for a class of nonlinear systems with unknown control direction [ J ] .IEEE Transactions on systems , man , and cybernetics : systems , 2020 , 50( 11 ): 4708-4718.
[ 17 ] 张普,薛惠锋,高山,等 . 具有混合执行器故障和多未知控制方向的多智能体编队系统自适应协同容错控制[ J ] . 国防科技大学学报, 2022 , 44 ( 2 ): 131-140.
[ 18 ] YANG X W , FAN X P , LONG F , et al.Predefined time robust control with formation constraints and saturated controls [ J ] .Nonlinear dynamics , 2022 , 110( 3 ): 2535-2554.

相似文献/References:

[1]孙留存,胡从川,钱大龙.基于 WSN 的旋转机械设备故障时频监测方法[J].机械与电子,2024,42(03):76.
　SUN Liucun,HU Congchuan,QIAN Dalong.Time Frequency Monitoring Method of Rotating Machinery Equipment Fault Based on WSN[J].Machinery & Electronics,2024,42(02):76.
[2]王玉有,余红云,吴海江.基于 RBF 神经网络的无人驾驶电机车避障控制[J].机械与电子,2025,(01):47.
　WANG Yuyou,YU Hongyun,WU Haijiang.Obstacle Avoidance Control of Unmanned Electric Locomotive Based on RBF Neural Network[J].Machinery & Electronics,2025,(02):47.

备注/Memo

备注/Memo:
收稿日期: 2022-08-24
基金项目:贵州理工学院 2021 年度学术新苗培养及创新探索项目( GZLGXM-07 )
作者简介:杨晓武 ( 1985- ),男,贵州凯里人,博士,讲师,研究方向为鲁棒自适应控制、多智能体系统协同控制、机器人自适应控制等;石 春 ( 2000- ),男,重庆合川人,工学学士,研究方向为鲁棒自适应控制、无人船控制等。
更新日期/Last Update: 2023-03-07