基于AIS轨迹重现任务的船舶路径跟踪迭代控制

Iterative path following control of underactuated ships based on AIS trajectory reproduction tasks

  • 摘要: 【目的】针对欠驱动船舶跟踪精度低、系统模型不确定性和时变海洋环境干扰的路径跟踪问题,设计了一种基于AIS轨迹重现任务的高精度迭代控制策略。【方法】首先,通过结合AIS数据和DVS制导算法,提出了一种基于AIS数据驱动的制导方法。其次,引入鲁棒神经阻尼技术和动态面控制(Dynamic surface control, DSC)方法来逼近模型不确定性和虚拟控制律的复杂求导,避免了“计算爆炸”的问题。接着,基于传统的鲁棒控制方法,引入迭代学习控制策略完成最终控制器设计。最后,通过Lyapunov定理,证明了所提出的控制器具有半全局一致最终有界(Semi-global uniform and ultimately bounded, SGUUB)稳定性质,并且在时变海洋环境干扰下进行仿真实验验证。【结果】结果表明,在此控制策略下的船舶路径跟踪具有高精度、鲁棒性强的特点,且平均控制精度能够有效保持在0.5m内。【结论】研究成果对特定复杂水域的船舶安全航行和轨迹重现任务具有重要意义。

     

    Abstract: Abstract:Objectives A high-precision iterative control strategy based on AIS trajectory reproduction tasks is designed to address the low tracking accuracy, system model uncertainties, and disturbances from time-varying marine environments encountered by underactuated ships Methods Firstly, a guidance method driven by AIS data has been proposed by integrating AIS data with the DVS guidance principle. Secondly, robust neural damping technology and dynamic surface control (DSC) are introduced to approximate model uncertainties and complex derivatives of virtual control laws, thus avoiding the issue of ‘‘computational explosion’’. Furthermore, based on the traditional robust control method, an iterative learning control strategy is incorporated to accomplish the final controller design. Finally, the semi-global uniformly ultimately bounded (SGUUB) stable property of the proposed controller is demonstrated by employing the Lyapunov theorem, and the simulation experiment is conducted to validate its performance under time-varying marine environmental disturbances. Results The results indicate that the path following of underactuated ships under this control strategy exhibits characteristics of high precision and robustness, with an average control accuracy effectively maintained within 0.5 meters. Conclusions The research results are of great

     

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