Anti-interference trajectory tracking control method for beacon vessel

Abstract

The invention relates to an anti-interference trajectory tracking control method for a beacon vessel. The anti-interference trajectory tracking control method is characterized by designing a self-adaptive fractional order sliding mode control method, considering the interference of a quay wall effect and wind waves on ship motion, and estimating unknown parameters, environmental disturbance and trajectory tracking errors of a vessel model by utilizing a radial basis function neural network; on the basis of a Lyapunov stability theory, enabling a trajectory tracking error to be converged to zero, so that the system is rapidly asymptotically stabilized; and adopting a fractional order gradient momentum descent algorithm for a learning algorithm of a threshold vector in a radial basis function. According to the anti-interference trajectory tracking control method for the beacon vessel, an underactuated vessel can be self-adjusted and rapidly reach a preset position when being interfered.

Description

technical field [0001] The invention relates to an anti-jamming trajectory tracking control method for a navigation mark ship. Background technique [0002] The low-speed stability and maneuverability of the existing navigation mark ships are poor. There are no side propulsion devices. It is an underactuated ship with poor low-speed stability and maneuverability; it does not have the dynamic positioning function to stabilize the ship's position under the influence of wind, current and waves. Special requirements for buoy operations (especially articulated lampposts, sunken stones backlogged by silt, etc.). [0003] How to design robust controllers for ships is still a challenging problem due to the influence of model errors, parameter changes and external disturbances. First of all, the existence of drift angle is usually ignored in heading control, but the actual yaw angle is not zero, which will lead to a drift angle difference between the actual direction of motion of ...

AI Technical Summary

Problems solved by technology

Large ship-shore interaction effects can even cause the ship to capsize

However, in ship motion control, the existence of ship-shore interaction is usually ignored

Third, sudden disturbances can cause excessive control force, resulting in excessive actuator drive power

Any actuator has a certain execution range. Once the input exceeds the limit value, it will affect the operation of the actuator, resulting in a decrease in system performance and affecting the control effect. Keeping too large control input for a long time will also increase the loss of the rudder

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