基于多滑模面的船舶航向非线性系统终端滑模模糊控制(英文) |
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摘 要: |
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Terminal sliding mode fuzzy control based on multiple sliding surfaces for nonlinear ship autopilot systems |
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Authors: | Lei Yuan Han-song Wu |
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Institution: | 1.Department of Electrical and Information Engineering,Naval University of Engineering,Wuhan,China |
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Abstract: | A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which
takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed
by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple
sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding
mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode
control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller
designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system,
and had better adaptive ability than traditional PID control algorithms. |
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