Dragonfly-algorithm-optimization-based global robust sliding mode control method for water-surface trajectory tracking

A trajectory tracking and control method technology, which is applied in the field of ships, can solve the problems of complex sliding mode parameter setting and high-frequency chattering, and achieve the effect of achieving global rapid stability, reducing high-frequency chattering, and solving unrobustness

Active Publication Date: 2019-10-25
HARBIN ENG UNIV
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Problems solved by technology

The global sliding mode control is realized by designing a nonlinear global sliding mode surface equation. On the basis of ensuring the stability of the sliding mode control, the approaching pro

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  • Dragonfly-algorithm-optimization-based global robust sliding mode control method for water-surface trajectory tracking
  • Dragonfly-algorithm-optimization-based global robust sliding mode control method for water-surface trajectory tracking
  • Dragonfly-algorithm-optimization-based global robust sliding mode control method for water-surface trajectory tracking

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Embodiment Construction

[0034] Further describe the present invention below in conjunction with accompanying drawing:

[0035] Such as figure 1 , a global robust sliding mode control method for surface ship trajectory tracking based on Dragonfly algorithm optimization, including the following steps:

[0036] Step (1): Establish the three-degree-of-freedom motion model of the ship:

[0037] In view of the sailing condition of the surface ship at sea, if the sea area is large, the surface ship will be subject to a relatively large static water restoring force. Under the influence of the strong static water restoring force, the movement perpendicular to the horizontal plane is compared with the movement on the horizontal plane. It is not very obvious, and the research focus is also on the track control and route selection of the surface ship, that is, the movement on the horizontal plane, rather than the sailing attitude of the surface ship. Therefore, the movement of the surface ship can be simplified...

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Abstract

The invention, which belongs to the field of ships, discloses a dragonfly-algorithm-optimization-based global robust sliding mode control method for water-surface trajectory tracking. The method comprises: step one, establishing a three-degree-of-freedom motion model of a ship to obtain a position and an orientation of the ship; step two, filtering a first-order high-frequency interference force and measuring noises in a wave force by using a nonlinear estimation filter; step three, designing a global-robustness-based trajectory tracking sliding mode controller; step four, designing a Butterworth low-pass filter according to the actual situation; step five, optimizing important parameters in the trajectory tracking sliding mode controller by introducing a dragonfly optimization algorithm;and step six, forming a closed-loop system by the trajectory tracking sliding mode controller, the Butterworth low-pass filter, the nonlinear estimation filter, and a surface ship and inputting a desired trajectory. According to the invention, the asymptotic convergence of the trajectory tracking error is ensured; the non-robustness of the conventional sliding mode control approaching segment is eliminated; and the global rapid stability is realized.

Description

technical field [0001] The invention belongs to the field of ships, and in particular relates to a global robust sliding mode control method for track tracking of surface ships based on dragonfly algorithm optimization. Background technique [0002] Ship trajectory tracking belongs to ship dynamic positioning in a broad sense. Specifically, the ship reaches the originally set position through the control of the trajectory tracking system within the specified time. A controller with high performance trajectory tracking capability is required for surface vessels. Designing the controller of a surface ship is challenging. The uncertainty of the dynamic model, the strong ocean disturbance, the underactuation of the model, and the incomplete constraints of the kinematics are the most important factors for the designer to design the trajectory tracking control of the surface ship. problems that must be dealt with. At present, a lot of research has been done on this problem from ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王元慧刘扬张晓云赵大威赵博陈兴华王海滨刘冲
Owner HARBIN ENG UNIV
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