Robust adaptive underactuated surface ship path tracking control method based on fuzzy unknown observer

A robust adaptive and path-tracking technology, applied in adaptive control, two-dimensional position/course control, electric speed/acceleration control, etc., can solve the problem of reducing the accuracy of the path-tracking control system and fast and accurate disturbance estimation issues such as non-fulfillment of compensation

Active Publication Date: 2019-01-11
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

In the control subsystem, fast and accurate disturbance estimation and compensation are not realized, which greatly reduces the accuracy of the path-following control system

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  • Robust adaptive underactuated surface ship path tracking control method based on fuzzy unknown observer
  • Robust adaptive underactuated surface ship path tracking control method based on fuzzy unknown observer
  • Robust adaptive underactuated surface ship path tracking control method based on fuzzy unknown observer

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Embodiment Construction

[0130] The present invention is not limited to this embodiment, and any equivalent ideas or changes within the technical scope disclosed in the present invention are listed in the protection scope of the present invention.

[0131] In order to illustrate the effectiveness and excellence of the method, a simulation is carried out on the Cybership I ship model, and the control method (abbreviation: FUO-RAPFC) proposed by the present invention and the algorithm framework without fuzzy unknown observer (abbreviation: RAPFC) are used to carry out The comparison is to illustrate the improvement of the performance of the path tracking control system by the fuzzy observer. The parameters of the ship model are:

[0132] m 11 =19kg,m 22 =35.2kg,m 33 =4.2kg,d 11 =4kg / s,d 22 =1kg / s,d 33 = 10 kg / s.

[0133] The complex parameter perturbation and unknown disturbance assumptions are as follows:

[0134] Δm 11 =0.1m 11 sin0.7t

[0135] Δm 22 =0.1m 22 cos0.7t

[0136] Δm 33 =0.1m ...

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Abstract

The invention discloses a robust adaptive underactuated surface ship path tracking control method based on a fuzzy unknown observer. The robust adaptive underactuated surface ship path tracking control method based on the fuzzy unknown observer comprises the following steps that an unmanned ship kinematics and dynamics model is established; a path tracking error dynamic state is built; a line-of-sight guidance law with variable speed is proposed; a fuzzy logic system is established; and a controller based on the fuzzy unknown observer is designed. In a guidance subsystem, the line-of-sight guidance law with the variable speed is proposed, the control flexibility and robustness of a guidance system are improved, and the position error is enabled to be asymptotically stabilized to zero; andin a control subsystem, the fuzzy unknown disturbance observer is designed to estimate the unknown disturbance quickly and accurately, and effective compensation is carried out on the designed speed and a heading controller, so that the tracking error between a guidance signal and actual quantity is asymptotically stabilized back to zero. The involved algorithm framework can enable a whole closed-loop system to be globally asymptotically stabilized, and the control flexibility and tracking accuracy of a path tracking control system are greatly improved.

Description

technical field [0001] The invention belongs to the field of unmanned ships, in particular to an accurate path tracking control method for unmanned ships. Background technique [0002] The application of underactuated surface vessels is becoming more and more common due to their flexibility and versatility in civil and military applications at sea. The motion control of underactuated surface vessels has always been a research hotspot, which is usually divided into stabilization problems, trajectory tracking and path following. Path-following control is a fundamental and critical function for underactuated surface vessels to perform various high-risk maritime tasks autonomously. Usually path following control system can be divided into guidance subsystem and control subsystem. In the design of the guidance subsystem, the line-of-sight guidance method is mainly used. The proportional line-of-sight guidance was first proposed, and the expected rudder angle is calculated by th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D13/62G05B13/04
CPCG05B13/0275G05B13/042G05D1/0206G05D13/62
Inventor 王宁孙卓
Owner DALIAN MARITIME UNIVERSITY
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