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基于速变LOS的无人船反步自适应路径跟踪控制

余亚磊,  苏荣彬,  冯旭,  郭晨

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文章导航 > 中国舰船研究  > 2019 >  14(3): 163-171
余亚磊, 苏荣彬, 冯旭, 郭晨. 基于速变LOS的无人船反步自适应路径跟踪控制[J]. 中国舰船研究, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
引用本文: 余亚磊, 苏荣彬, 冯旭, 郭晨. 基于速变LOS的无人船反步自适应路径跟踪控制[J]. 中国舰船研究, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
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Yu Yalei, Su Rongbin, Feng Xu, Guo Chen. Tracking control of backstepping adaptive path of unmanned surface vessels based on surge-varying LOS[J]. Chinese Journal of Ship Research, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
Citation: Yu Yalei, Su Rongbin, Feng Xu, Guo Chen. Tracking control of backstepping adaptive path of unmanned surface vessels based on surge-varying LOS[J]. Chinese Journal of Ship Research, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
shu

基于速变LOS的无人船反步自适应路径跟踪控制

doi: 10.19693/j.issn.1673-3185.01377

  • 1 大连海事大学 航海学院, 辽宁 大连 116026;

  • 2 大连海事大学 船舶电气工程学院, 辽宁 大连 116026

基金项目: 国家自然科学基金资助项目（51879027，51579024，6137114，51809028）；中央高校基础研究基金资助项目（大连海事大学3132016311，3132018154）
详细信息
    作者简介:

    余亚磊,男,1992年生,硕士生。研究方向:船舶运动控制,非线性控制。E-mail:yuyalei89@gmail.com

    通讯作者:

    郭晨,男,1956年生,博士,教授。研究方向:智能控制,船舶自动化系统。E-mail:dmuguoc@126.com

  • 中图分类号: U664.82

Tracking control of backstepping adaptive path of unmanned surface vessels based on surge-varying LOS

  • 1 Navigation College, Dalian Maritime University, Dalian 116026, China;

  • 2 Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China

Funds:  

  • 摘要: [目的] 为了解决无人船由系统建模误差和参数摄动引起的混合不确定项、模型含非零非对角项和控制器输入饱和情况下的路径跟踪问题， [方法] 提出基于速变视线导航法（LOS）的反步自适应无人船路径跟踪控制方法。首先引入坐标变换法，把系统模型转变为斜对角形式。把控制系统分为制导子系统和控制子系统，在制导子系统设计速变LOS算法，使纵向速度制导律与横向跟踪误差呈正相关，确保无人船能有效地朝着并保持在期望的路径上；在控制子系统设计反步自适应算法以补偿系统混合不确定项，同时引入辅助系统处理系统控制输入饱和问题。 [结果] 运用李雅普诺夫稳定性理论证明制导—控制闭环系统一致最终有界稳定。 [结论] 仿真结果验证了所提出方法的有效性和鲁棒性，对无人船反步自适应路径跟踪控制有一定的参考价值。
    Abstract: [Objectives] To solve lumped uncertainties of Unmanned Surface Vessels(USV)caused by system modeling errors and parameter perturbations, and path tracking problem of the model including non-zero non-diagonal terms and controller input saturation, [Methods] a tracking control method of backstepping adaptive path of USV based on surge-varying Line-of-Sight (LOS)is proposed. First of all, a coordinate transformation is introduced to transform system model into skew-symmetric form. The controlled system is divided into two subsystems, guidance subsystem and control subsystem, respectively. In the guidance subsystem,the surge-varying LOS algorithm is developed to make guidance law of longitudinal speed positively correlated to transverse tracking error and ensure USV can effectively go towards and keep on the expected path;In the control subsystem,the lumped uncertainties of system are compensated by constructing backstepping adaptive algorithm. Simultaneously,the auxiliary system is introduced to deal with the problem caused by saturation of system control input. [Results] The guidance-control closed-loop system is proved to be uniformly ultimately bounded by using Lyapunov stability theories. [Conclusions] Simulation results verify the effectiveness and robustness of the proposed method. It has certain reference value for tracking control of backstepping adaptive path of unmanned surface vessels.
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  • 收稿日期:  2018-08-15
  • 刊出日期:  2019-06-18

基于速变LOS的无人船反步自适应路径跟踪控制

doi: 10.19693/j.issn.1673-3185.01377
  • 1 大连海事大学 航海学院, 辽宁 大连 116026;
  • 2 大连海事大学 船舶电气工程学院, 辽宁 大连 116026
    • 基金项目:  国家自然科学基金资助项目（51879027，51579024，6137114，51809028）；中央高校基础研究基金资助项目（大连海事大学3132016311，3132018154）
    作者简介:

    余亚磊,男,1992年生,硕士生。研究方向:船舶运动控制,非线性控制。E-mail:yuyalei89@gmail.com

    通讯作者: 郭晨,男,1956年生,博士,教授。研究方向:智能控制,船舶自动化系统。E-mail:dmuguoc@126.com
  • 收稿日期: 2018-08-15
  • 刊出日期: 2019-06-18

  • 中图分类号: U664.82

摘要: [目的] 为了解决无人船由系统建模误差和参数摄动引起的混合不确定项、模型含非零非对角项和控制器输入饱和情况下的路径跟踪问题， [方法] 提出基于速变视线导航法（LOS）的反步自适应无人船路径跟踪控制方法。首先引入坐标变换法，把系统模型转变为斜对角形式。把控制系统分为制导子系统和控制子系统，在制导子系统设计速变LOS算法，使纵向速度制导律与横向跟踪误差呈正相关，确保无人船能有效地朝着并保持在期望的路径上；在控制子系统设计反步自适应算法以补偿系统混合不确定项，同时引入辅助系统处理系统控制输入饱和问题。 [结果] 运用李雅普诺夫稳定性理论证明制导—控制闭环系统一致最终有界稳定。 [结论] 仿真结果验证了所提出方法的有效性和鲁棒性，对无人船反步自适应路径跟踪控制有一定的参考价值。

English Abstract

余亚磊, 苏荣彬, 冯旭, 郭晨. 基于速变LOS的无人船反步自适应路径跟踪控制[J]. 中国舰船研究, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
引用本文: 余亚磊, 苏荣彬, 冯旭, 郭晨. 基于速变LOS的无人船反步自适应路径跟踪控制[J]. 中国舰船研究, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
shu
Yu Yalei, Su Rongbin, Feng Xu, Guo Chen. Tracking control of backstepping adaptive path of unmanned surface vessels based on surge-varying LOS[J]. Chinese Journal of Ship Research, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
Citation: Yu Yalei, Su Rongbin, Feng Xu, Guo Chen. Tracking control of backstepping adaptive path of unmanned surface vessels based on surge-varying LOS[J]. Chinese Journal of Ship Research, 2019, 14(3): 163-171. doi: 10.19693/j.issn.1673-3185.01377
shu

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