基于二阶滑模算法的船舶航向控制

针对非线性、易受外界扰动的欠驱动船舶航向控制系统,基于滑模控制算法的理念,直接对二阶航向控制系统中的控制输入进行设计,提出一种二阶滑模控制算法,通过设计合理的李雅普诺夫函数及利用其稳定性理论对系统的稳定性进行了分析,并利用"育龙"轮运动数学模型进行计算机模拟仿真,验证了该控制算法的合理性及有效性。该算法避免了计算中的维数膨胀问题,无需对不确定的外界摄动进行定性估计,可以保证闭环控制系统的渐近收敛及稳定。仿真结果表明,根据该控制算法所设计的控制器,能够有效解决非线性航向控制系统中存在的抖振、超调以及不能在有限时间内快速收敛的问题,而且对外界干扰以及系统摄动不敏感、具有强鲁棒性,具有很好的实践应用价值。

Ship Course Control Based on Second Order Sliding Mode Method

According to sliding mode control ideas,a control input is designed and a new adaptive second order control algorithm is proposed for second order course control system of underactuated ships with nonlinearity,and uncertain ex-ternal disturbances. The stability of control system is proved by Lyapunov stability theory and numerical simulation is carried out to validate the reasonableness and validity. The algorithm avoid dimensional explosion and without uncertain-ty estimating and it can guarantee the convergence and stability of closed-loop control system. Numerical simulation re-sults verify the controller who is proposed by this algorithm is insensitive to external disturbances and system perturba-tion and has the invariability and excellent robustness,and it can effectively solve the problem of chattering and diver-gent in the nonlinear course control system which has a good practice value in the future.