【摘要】：針對(duì)含模型不確定與海洋環(huán)境干擾的自主水面船編隊(duì)時(shí)的控制飽和約束問題,提出了一種基于廣義飽和函數(shù)的編隊(duì)控制算法.首先,采用虛擬領(lǐng)航 跟隨編隊(duì)策略,并基于反步法以及更為通用的廣義飽和函數(shù)設(shè)計(jì)了編隊(duì)控制器,突破了采用特定飽和函數(shù)的局限性.再針對(duì)自主水面船的特點(diǎn),利用單隱層神經(jīng)網(wǎng)絡(luò)對(duì)模型不確定和海洋環(huán)境干擾進(jìn)行了在線逼近.然后根據(jù)Lyapouv穩(wěn)定性理論證明了閉環(huán)系統(tǒng)所有狀態(tài)的有界性,并可通過選擇合適的設(shè)計(jì)參數(shù)使跟蹤誤差為任意小.最后,通過對(duì)比仿真結(jié)果驗(yàn)證了本文所提出的抗飽和編隊(duì)控制算法的有效性.
[Abstract]:A formation control algorithm based on generalized saturation function is proposed to solve the control saturation constraint problem of autonomous surface ship formation with model uncertainty and marine environment disturbance. Firstly, the virtual pilotage following formation strategy is adopted, and the formation controller is designed based on the backstepping method and the more general generalized saturation function, which breaks through the limitation of using the specific saturation function. According to the characteristics of autonomous surface ship, the model uncertainty and marine environment disturbance are approximated online by single hidden layer neural network. Then according to Lyapouv stability theory, the boundedness of all states of the closed-loop system is proved, and the tracking error can be arbitrarily small by selecting appropriate design parameters. Finally, the effectiveness of the proposed anti-saturation formation control algorithm is verified by comparing the simulation results.
【作者單位】： 哈爾濱工程大學(xué)自動(dòng)化學(xué)院;渤海大學(xué)自動(dòng)化學(xué)院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(61503040) 國(guó)家重大專項(xiàng)(“深水鋪管起重船及配套工程技術(shù)”項(xiàng)目(2011ZX05027 002))資助~~
【分類號(hào)】：U664.82
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本文編號(hào)：2129897