Ship self-adaptive robust course tracking control method based on back stepping method

Abstract

The invention provides a ship self-adaptive robust course tracking control method based on a back stepping method. A sensor collects the actual course and a rudder angle of a ship, the actual course and an expected course are combined to generate a course tracking error equation, a new state variable is obtained through differentiable homeomorphism conversion, the new state variable is transmitted to an angle virtual controller and a terminal sliding mode controller, the new state variable, estimated model uncertainties, external disturbance and known nonlinear terms of a system are transmitted to an angular speed expectation virtual controller, an angular speed expectation virtual control law is solved through a first-order low-pass filter to obtain an angular speed virtual control law, the angular speed virtual control law is transmitted to a controller to generate a control command rudder angle, and a drive steering engine enables the ship to track the expected course. The ship course can track the expected course stably without accurately obtaining a ship mathematic model; a closed-loop control system is made to have the self-adaptive robust function on an uncertain model and unknown disturbance; the complexity of the controller is reduced.

Description

technical field [0001] The invention relates to a course tracking control method of a ship, in particular to a course tracking control method of a ship under the condition of unknown interference. Background technique [0002] With the rapid development of the world's shipping industry, the requirements for ship navigation safety and modernization are getting higher and higher, so ship navigation control has received extensive attention. In recent decades, various advanced control algorithms for ship control systems have emerged, such as robust control, adaptive control, and various intelligent control methods. However, most of the control methods have not been applied to the actual control system. On the one hand, due to the complexity of the controller design and the heavy calculation burden brought by the advanced control methods, on the other hand, it is highly nonlinear and complex with the ship motion. Sea conditions also have a lot to do with it. [0003] The ship c...

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Problems solved by technology

"A Backstepping Approach to Ship Course Control" published in "Int.J.Appl.Math.Comput.Sci.", Volume 17, No. 1, 2007, aimed at nonlinear Norrbin models with and without steering gear characteristics The backstepping controllers were designed respectively, and the parameters of the controllers were optimized by genetic algorithm, but the uncertainty of the model and the influence of external disturbances were not considered in this paper.

In the "Design of Ship Steering Autopilot DSC-MLP with Steering Gear Characteristics" published in "Journal of Harbin Engineering University" 2012 Volume 33 No. 1, the author added the steering gear characteristics to the model and used T-S fuzzy system to approximate The unknown items of the model are theoretically estimated, and the controller is designed by combining DSC and backstepping method, but the method used is relatively complicated, and there are many controller parameters, which is not conducive to the realization

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