Ship track active-disturbance-rejection control method based on slip form of multi-modal nonsingular terminal

Abstract

The invention provides a ship track active-disturbance-rejection control method based on the slip form of a multi-modal nonsingular terminal. The method includes the steps of constructing an expectedship heading equation according to navigational parameters of a ship, deducing a discretization nonlinear structural model of a two-order differentiator, processing expected ship heading signals in the expected ship heading equation to obtain expected ship heading differential signals required for controlling the rudder angle by the control law, obtaining the output rudder angle on the basis of the switchable error feedback control law, constructing an expanded state observer in combination with the error feedback control law, tracking the output deviation according to the expanded state observer, estimating the heading angle and inner and outer disturbance errors controlled by the control law, and feeding the heading angle and the inner and outer disturbance errors back into the control law. By improving the expanded state observer, a linear function and a nonlinear function can be switched in real time; the switchable segmented slip form face is designed; through the segmented slip form face, the switchable error feedback control law is designed, and the under-actuated ship track control is well realized.

Description

technical field [0001] The invention relates to the technical field of underactuated ship track active disturbance rejection control, in particular to a ship track active disturbance rejection control method based on multi-mode non-singular terminal sliding mode. Background technique [0002] Due to the uncertain parameters of the ship motion model, strong nonlinearity and other characteristics of the underactuated ship system, coupled with the interference of external wind, waves and currents, it is difficult to design the controller. Conventional ships are only equipped with propeller main propellers and rudder devices, which is a typical underactuated system. [0003] GodhavnJM used the known ship kinematics and dynamics model, designed the controller by backstepping method, and realized the exponential stability in the global state. [0004] Meng Hao adopts non-singular terminal sliding mode control, which realizes track control under the condition of uncertain model pa...

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Problems solved by technology

[0008] Comprehensive domestic and foreign, nonlinear active disturbance rejection control has the advantages of high tracking accuracy and strong anti-interference ability, but there are certain difficulties in parameter setting, stability analysis and control performance analysis, and the selection of nonlinear functions is still not clear. The theoretical basis, in most cases can only rely on empirical selection

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