基于扩张状态观测器的小水线面双体船终端滑模控制

针对小水线面双体(SWATH)船运动控制问题，设计了带有扩张状态观测器(Extended State Observer, ESO)的终端滑模控制器。首先，针对SWATH船在随机海浪作用下的运动问题，建立了带有系统复合扰动的非线性运动模型；进而，考虑到系统存在的参数摄动和海浪扰动的复杂性、随机性，将系统分为内环观测器和外环控制器分别设计；利用一个线性ESO对系统的复合扰动进行估计，并在外环终端滑模控制器中进行补偿；最后，利用Lyapunov理论得到了系统的渐进稳定结论。仿真结果表明，带有ESO的终端滑模控制方法能够有效实现SWATH船的运动控制，线性ESO能够准确估计出系统的复合扰动，且终端滑模控制器能够使系统状态快速收敛。

Terminal Sliding Mode Control of SWATH Ship Based on Extended State Observer

Aiming at the motion control problem of a SWATH ship, a terminal sliding mode controller is designed based on extended state observer (ESO). Firstly, considering the motion control problem under random wave disturbances, the nonlinear model of SWATH ship with compound disturbances is established. Then, considering the parameters perturbation, complexity and randomness of the wave, the control system is divided into inner loop observer and outer loop controller respectively. An ESO is implemented to estimate and compensate the compound disturbances in the terminal sliding mode controller. At last, the asymptotical stability is achieved based on Lyapunov theory. Simulations show the effectiveness of the proposed method. Linear ESO can estimate the compound disturbances successfully, meanwhile, the terminal sliding mode controller can enable the system states converge quickly.