引用本文:王宁,王仁慧,鲁挺.推进器饱和约束的水面无人艇固定时间精准跟踪控制[J].控制理论与应用,2023,40(1):55~64.[点击复制]
WANG Ning,WANG Ren-hui,LU Ting.Fixed-time precision tracking control of an unmanned surface vehicle constrained by thruster saturations[J].Control Theory and Technology,2023,40(1):55~64.[点击复制]
推进器饱和约束的水面无人艇固定时间精准跟踪控制
Fixed-time precision tracking control of an unmanned surface vehicle constrained by thruster saturations
摘要点击 1056  全文点击 344  投稿时间：2021-08-23  修订日期：2022-11-16
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DOI编号  10.7641/CTA.2022.10778
  2023,40(1):55-64
中文关键词  无模型固定时间跟踪控制  非奇异终端滑模  有限时间观测器  推进器饱和  水面无人艇
英文关键词  model-free fixed-time tracking control  nonsingular terminal sliding-mode  finite-time observer  thruster saturations  unmanned surface vehicle
基金项目  辽宁省“兴辽英才计划”项目(XLYC1807013), 国家自然科学基金项目(52271306), 船舶总体性能创新研究开放基金项目(31422120)资助.
作者单位邮编
王宁* 大连海事大学船舶电气工程学院 116026
王仁慧 大连海事大学船舶电气工程学院 
鲁挺 大连海事大学船舶电气工程学院 
中文摘要
      针对复杂扰动、完全未知系统动态以及推进器饱和约束的水面无人艇高精度跟踪控制问题, 提出一种基于 固定时间非奇异终端滑模的无模型固定时间精准跟踪控制(MFPTC)方案. 首先, 设计有限时间集总观测器, 精确重 构和补偿集总未知项; 其次, 引入自适应辅助系统消除推进器饱和特性, 使得MFPTC方案在饱和约束下实现期望时 间内对预定轨迹的精准跟踪; 进而, 基于反正切函数构造固定时间幂次趋近律, 加快滑模变量收敛速度且有效削弱 控制抖振; 最后, 采用CyberShip II实验模型进行仿真研究, 结果验证所提出MFPTC 方案的有效性与优越性.
英文摘要
      In this paper, a model-free fixed-time precision tracking control (MFPTC) scheme based on the fixed-time nonsingular terminal sliding-mode (FNTSM) is proposed for high precision tracking control of an unmanned surface vehicle in the presence of complex disturbances, completely unknown system dynamics and thruster saturations. Firstly, a finitetime lump observer is designed to accurately observe and compensate for the lumped unknowns. Secondly, an adaptive assistant system is introduced to eliminate the saturation characteristics of the thrusters, so that the MFPTC scheme can achieve accurate tracking of the predefined trajectory in the desired time under the saturation constraint. And then, a fixedtime power reaching law is constructed based on the inverse tangent function, which can effectively weaken the controller chattering while speeding up the convergence of the sliding mode variables. Finally, the simulation studied on a prototype USV Cybership II shows remarkable efficiency and significant superiority of the proposed scheme.