Trajectory tracking control method for input-output asymmetrically limited full-drive surface ship

Abstract

The invention relates to a trajectory tracking control method for an input-output asymmetrically limited full-drive surface ship. The trajectory tracking control method comprises the steps of: conducting error calculation according to a given trajectory expected tracking value; then conducting trajectory kinematic control calculation according to a trajectory kinematical equation, so as to obtain a virtual control law; approximating an uncertain item in a surface ship model by utilizing a neural network, designing an auxiliary control system to solve the saturation problem of actuating mechanisms, and then acquiring a control quantity based on a surface ship kinematical equation; and finally applying the control quantity to the surface ship model. In practical application, state quantities such as trajectory and speed of the surface ship are measured by sensors, and the control quantity obtained through calculation by adopting the trajectory tracking control method is transmitted to the actuating mechanisms such as a steering engine and a propeller, thus a trajectory tracking control function of the surface ship resisting the uncertain item, resisting disturbance and resisting asymmetric saturation problem of the actuating mechanisms can be realized.

Description

technical field [0001] The invention provides a trajectory tracking control method of a full-drive surface ship whose input and output are limited by asymmetry. It provides a tracking expected trajectory that suppresses the influence of external disturbances for a full-drive unmanned surface ship whose input and output are limited by asymmetry. The new control method belongs to the field of automatic control technology. Background technique [0002] In recent years, there have been more and more researches on the motion control of unmanned surface ships. Among them, trajectory tracking control, as a typical motion control, is of great significance to the work of navigation, intelligent survey and intelligent reconnaissance. Therefore, we need to design a controller with high performance trajectory tracking capability for unmanned surface ships, so as to realize accurate reference trajectory or virtual objects of surface ships. However, in practical application systems, the...

AI Technical Summary

Problems solved by technology

However, in the actual application system, the problem of input saturation will occur, which will lead to performance degradation, lead lag, negative pulse signal and even system instability

At the same time, since the propeller of the surface ship can only output positive power, or when the effectiveness of the actuator is partially lost, asymmetrical input saturation will occur

In addition, when a surface ship travels in a narrow river, the track of the ship is strictly limited by the two sides of the river, so the issue of limited output needs to be considered

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