具有预设性能的船舶轨迹跟踪动态面控制

为了提高船舶轨迹跟踪非线性控制系统的暂态性能和稳态性能,本文设计了一种具有预设性能的船舶动态面轨迹跟踪控制器。首先,根据船舶轨迹跟踪控制系统的特点设计了满足实际要求的预设性能约束函数,并把其等价为无约束函数方程。再次,在此基础上利用动态面技术设计了一种有预设性能的船舶轨迹跟踪控制器,动态面技术的引入解决了传统反步法的计算膨胀问题,具有计算量小、易于实际工程的实现等优点。最后,通过 Lyapunov 理论证明了,控制系统中的所有信号都是一致最终有界,且跟踪误差能够收敛到一个预设的区域内,同时保证其稳态误差、最大超调量和收敛速度均满足预先设定的性能要求。通过一艘供给船进行仿真研究,结果表明了所设计的控制器的有效性。

Dynamic Surface Control for Ship Trajectory Tracking with Prescribed Performance

To improve the transient and steady-state performance of ship trajectory tracking nonlinear control system, this paper develops a dynamic surface control for ship trajectory tracking with prescribed performance.Firstly, according to the characteristics of ship trajectory tracking control system, a preset performance constrained function is designed, and transformed unconstrained function. Secondly,by the dynamic surface control (DSC),theship trajectory tracking controllerispresented with prescribed performance. The introduction ofDSC solves the computational expansionproblem of traditional backstepping method, with the advantages of small amount of calculation,which is easy to implementation in practical engineering. Finally, by means of Lyapunov stability theory, it is proved that the proposed scheme can guarantee the uniform ultimate boundedness of all signals, and the track errorcan converge on a prescribed area, the steady-state error, maximum overshoot and convergence rate are guaranteed to meet the preset performance requirements. Simulation studies on a supply vessel are carried out to demonstrate the effectiveness of the developedscheme.