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Ship path tracking control method for uncertain systems

A technology of path tracking and control methods, applied in general control systems, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve problems such as uncertainty, uncertain system parameters, interference, etc., to achieve guaranteed Tracking performance, effect of high-precision trajectory tracking control

Inactive Publication Date: 2019-08-16
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology

[0004] The invention proposes a ship path tracking control method for an uncertain system, which simultaneously solves the problems of external disturbance, model uncertainty and uncertain system parameters
Starting from describing the mathematical model of the ship, considering the influence of the actual non-zero drift angle on the course angle during the tracking process, introducing an adaptive law to solve the uncertainty and interference problems, and combining the controller design based on the backstepping method to ensure the tracking performance

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  • Ship path tracking control method for uncertain systems
  • Ship path tracking control method for uncertain systems
  • Ship path tracking control method for uncertain systems

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[0044] The invention proposes a ship path tracking control method for an uncertain system, which simultaneously solves the problems of external interference, model uncertainty and uncertain system parameters. Starting from describing the mathematical model of the ship, considering the influence of the actual non-zero drift angle on the course angle during the tracking process, introducing an adaptive law to solve the uncertainty and interference problems, and combining the controller design based on the backstepping method to ensure the tracking performance . Include the following steps:

[0045] Step 1. Establish a 3-DOF underactuated ship mathematical model;

[0046] Ship motion is generally described by six independent variables: surge, sway, heave, roll, pitch, and yaw. Therefore, the ship control can be simplified from six degrees of freedom to motion problems only in the directions of pitch, roll and yaw. Therefore, the three-degree-of-freedom ship mathematical model g...

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Abstract

The invention provides a ship path tracking control method for uncertain systems. External interference, model uncertainty and uncertain system parameter problems are solved at the same time. Startingfrom the description of a mathematical model of the ship and considering the subsistent influence of non-zero drift angles on course angles in the tracking process, a self-adaptation law is introduced to solve the uncertainty and interference problems, and the tracking performance is guaranteed by combining a controller designed based on a backstepping method. According to the control algorithm,suppression control on interference and uncertainty can be effectively realized, so that the tracking error is gradually changed to zero, and high-precision trajectory tracking control is guaranteed.

Description

technical field [0001] The invention relates to the technical field of ship automatic control, in particular to a ship path tracking control method for an uncertain system. Background technique [0002] Today, with the rapid development of marine engineering, ship track control, as an important issue in the field of ships, has always been a research hotspot, and it has great significance for the safety and economy of ship navigation. In recent decades, modern control theory has been widely used to solve ship trajectory tracking problems, such as output feedback, sliding mode control, model predictive control, adaptive technology or intelligent algorithm to design controllers to achieve high-precision tracking control. [0003] The influence of the drift angle on the course angle in track control is generally ignored in the design of the controller. In fact, the actual direction of the ship’s movement is different from the traditionally defined tangent direction by a drift an...

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Application Information

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IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0206
Inventor 陆潇杨刘志全
Owner SHANGHAI MARITIME UNIVERSITY
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