船舶自抗扰无模型自适应航迹控制

李诗杰; 徐诚祺; 刘佳仑; 徐子茜; 孟凡彬

doi:10.19693/j.issn.1673-3185.03226

船舶自抗扰无模型自适应航迹控制

Tracking control of ships based on ADRC−MFAC

摘要

摘要:
目的旨在研究船舶在真实海况下航行面临复杂环境干扰的影响，控制船舶克服干扰，实现航迹跟随、智能航行。
方法首先，将无模型自适应控制（MFAC）算法引入自抗扰控制器（ADRC）中，设计改进自抗扰无模型自适应控制（ADRC−MFAC）算法，通过ADRC跟踪系统的实时状态、识别系统所受未知扰动，根据MFAC建立输入数据（舵角）与输出数据（航向角、角速度）之间的非线性关系，实现稳定的航向控制。然后，结合自适应视线（LOS）制导策略，通过动态航向控制实现对航迹的精准控制。
结果仿真结果表明，所设计的控制器能够控制船舶快速航行至预设轨迹并沿轨迹行进，在复杂环境扰动下仍能够实现理想的航迹控制。
结论研究成果不依赖船舶具体模型，可为船舶航迹控制提供参考。

Abstract:
Objective This paper aims to investigate the complex influence of environmental disturbances on unmanned surface vehicles (USVs) under real ocean conditions, and control USVs to overcome disturbances and realize path following.
Methods An improved active disturbance rejection controller (ADRC) based on the model-free adaptive control (MFAC) law (ADRC−MFAC) is proposed to establish the non-linear relationship between the input data (rudder angle) and output data (heading angle, angular velocity), and identify the unknown disturbances of the system. In this way, stable heading control can be achieved. Combined with the adaptive line-of-sight (LOS) guidance law, it achieves accurate tracking control through dynamic heading control.
Results The simulation results show that the controller can control USVs to approach the preset path quickly and achieve a desirable tracking control effect under complex disturbances.
Conclusion The research results do not depend on the specific model of USV and can provide valuable references for ship tracking control.

HTML全文

参考文献(20)

施引文献

资源附件(0)