| 引用本文: | 张国庆,李纪强,王文新,张卫东.基于速度调节的无人帆船机器人自适应航向保持控制[J].控制理论与应用,2020,37(11):2383~2390.[点击复制] |
| ZHANG Guo-qing,LI Ji-qiang,WANG Wen-xin,ZHANG Wei-dong.Adaptive course-keeping control for unmaned sailboat robot with the speed regulating mechanism[J].Control Theory and Technology,2020,37(11):2383~2390.[点击复制] |
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| 基于速度调节的无人帆船机器人自适应航向保持控制 |
| Adaptive course-keeping control for unmaned sailboat robot with the speed regulating mechanism |
| 摘要点击 2564 全文点击 760 投稿时间：2019-08-22 修订日期：2020-05-20 |
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| DOI编号 10.7641/CTA.2020.90700 |
| 2020,37(11):2383-2390 |
| 中文关键词 无人帆船 速度调节 RBF神经网络 增益不确定 自适应控制 |
| 英文关键词 unmanned sailboat speed regulating radial basic function neural networks gain uncertainty adaptive control |
| 基金项目 国家自然科学基金项目(51909018)，辽宁省自然科学基金机器人联合基金 (20170520189, 20180520039)，大连市科技创新基金项目(2019J12GX026)，中央高校基本科研业务费专项资金 (3132020124) |
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| 中文摘要 |
| 为了解决实际海洋环境下, 无人帆船机器人(USR)航向保持控制任务中存在的模型结构未知、参数不确定
和航行速度难以控制等问题, 本文提出一种具有速度调节性能的鲁棒自适应航向保持控制算法. 该算法采用径向
基(RBF)神经网络对系统结构不确定进行逼近, 由于引入鲁棒神经阻尼技术和动态面控制技术, 使得闭环控制系统
仅需要两个自适应参数对执行器的增益不确定部分进行在线补偿, 并且不需要对神经网络权重参数进行学习更新.
所提出的控制算法能够有效控制无人帆船以期望的航行速度达到设定航向. 利用Lyapunov稳定性理论证明了所提
出控制器能够保证闭环控制系统中相关误差变量满足半全局一致最终有界(SGUUB)收敛. 通过在模拟海洋环境干
扰下进行计算机仿真研究, 验证了所提出算法具有良好的速度调节性能和鲁棒性. |
| 英文摘要 |
| This paper deals with the course-keeping control problem for the unmanned sailboat robot (USR), aiming to
the unknown model structure, parameters uncertainty and speed control difficulty in the practical marine environment. For
this purpose, a novel robust adaptive course keeping control algorithm with speed regulating is developed. In this algorithm,
the radial basic function (RBF) neural network is employed to approximate the structure’s uncertainty. Due to the merits
of the robust neural damping technique and the dynamic surface control, only two adaptive parameters are designed to
compensate the actuators’ gain uncertainty. In addition, the information of the neural networks weights parameters is not
needed. The USR could converge to the objective course with the desired navigational speed under the proposed controller.
Sufficient effort has been made to guarantee that the corresponding error variables satisfies the semi-global uniform ultimate
bounded (SGUUB) stability via the Lyapunov theory. Through the computer simulation under the presence of marine
environment, the proposed approach could obtain the better performance in aspects of the speed regulating and robustness. |
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