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A Global Robust Sliding Mode Control Method for Surface Vessel Trajectory Tracking Based on Dragonfly Algorithm Optimization

A trajectory tracking and control method technology, applied in the field of ships, can solve the problems of high-frequency buffeting and complex sliding mode parameter tuning, and achieve the effects of reducing high-frequency buffeting, achieving global fast stability, and solving unrobustness.

Active Publication Date: 2022-05-17
HARBIN ENG UNIV
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Problems solved by technology

The global sliding mode control is realized by designing a nonlinear global sliding mode surface equation. On the basis of ensuring the stability of the sliding mode control, the approaching process in the sliding mode control is eliminated, but at the same time, it is faced with the complex setting of the sliding mode parameters and the There is a problem of high frequency chattering

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  • A Global Robust Sliding Mode Control Method for Surface Vessel Trajectory Tracking Based on Dragonfly Algorithm Optimization
  • A Global Robust Sliding Mode Control Method for Surface Vessel Trajectory Tracking Based on Dragonfly Algorithm Optimization
  • A Global Robust Sliding Mode Control Method for Surface Vessel Trajectory Tracking Based on Dragonfly Algorithm Optimization

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[0034] Further describe the present invention below in conjunction with accompanying drawing:

[0035] Such as figure 1 , a global robust sliding mode control method for surface ship trajectory tracking based on Dragonfly algorithm optimization, including the following steps:

[0036] Step (1): Establish the three-degree-of-freedom motion model of the ship:

[0037] In view of the sailing condition of the surface ship at sea, if the sea area is large, the surface ship will be subject to a relatively large static water restoring force. Under the influence of the strong static water restoring force, the movement perpendicular to the horizontal plane is compared with the movement on the horizontal plane. It is not very obvious, and the research focus is also on the track control and route selection of the surface ship, that is, the movement on the horizontal plane, rather than the sailing attitude of the surface ship. Therefore, the movement of the surface ship can be simplified...

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Abstract

The invention belongs to the field of ships, and discloses a global robust sliding mode control method for track tracking of surface ships based on dragonfly algorithm optimization. ; Step (2): Use the nonlinear estimation filter to filter out the first-order high-frequency disturbance force and measurement noise in the wave force; Step (3): Design a trajectory tracking sliding mode controller based on global robustness; Step (4) : Design the Butterworth low-pass filter according to the actual situation; Step (5): Introduce the dragonfly optimization algorithm to optimize the important parameters in the trajectory tracking sliding mode controller; Step (6): Combine the trajectory tracking sliding mode controller, Butterworth The low-pass filter and the nonlinear estimation filter form a closed-loop system with the surface ship, and input the expected trajectory. The invention ensures the gradual convergence of the track tracking error, solves the unrobustness of the conventional sliding mode control in the approaching section, and realizes the global rapid stability.

Description

technical field [0001] The invention belongs to the field of ships, and in particular relates to a global robust sliding mode control method for track tracking of surface ships based on dragonfly algorithm optimization. Background technique [0002] Ship trajectory tracking belongs to ship dynamic positioning in a broad sense. Specifically, the ship reaches the originally set position through the control of the trajectory tracking system within the specified time. A controller with high performance trajectory tracking capability is required for surface vessels. Designing the controller of a surface ship is challenging. The uncertainty of the dynamic model, the strong ocean disturbance, the underactuation of the model, and the incomplete constraints of the kinematics are the most important factors for the designer to design the trajectory tracking control of the surface ship. problems that must be dealt with. At present, a lot of research has been done on this problem from ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王元慧刘扬张晓云赵大威赵博陈兴华王海滨刘冲
Owner HARBIN ENG UNIV
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