| 引用本文: | 谢文博,付明玉,施小成.动力定位船舶自适应滑模无源观测器设计[J].控制理论与应用,2013,30(1):131~136.[点击复制] |
| XIE Wen-bo,FU Ming-yu,SHI Xiao-cheng.Adaptive sliding-mode passive observer design for dynamic positioning vessel[J].Control Theory and Technology,2013,30(1):131~136.[点击复制] |
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| 动力定位船舶自适应滑模无源观测器设计 |
| Adaptive sliding-mode passive observer design for dynamic positioning vessel |
| 摘要点击 3359 全文点击 2506 投稿时间：2011-12-31 修订日期：2012-08-28 |
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| DOI编号 10.7641/CTA.2013.11505 |
| 2013,30(1):131-136 |
| 中文关键词 观测器 动力定位 滑模 自适应 无源性 |
| 英文关键词 observer dynamic positioning sliding-mode adaptive passivity |
| 基金项目 国家高技术船舶科研资助项目(GJCB09001); 国家科技重大专项资助项目(2008ZX05027¡002). |
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| 中文摘要 |
| 针对带有模型参数不确定性的动力定位船舶, 提出一种动力定位船全速域自适应滑模无源观测器, 解决了现有观测器只能应用于低速作业动力定位系统的问题. 采用速度估计误差作为滑模面, 设计切换自适应律估计模型不确定项上界, 保证了观测器增益的有界性和系统鲁棒性. 对速度估计回路的无源性进行了分析, 并证明了观测器的稳定性. 最后利用船舶动力定位系统半实物仿真平台, 验证了算法的有效性. |
| 英文摘要 |
| Because the existing observers can only be applied to low-speed dynamic positioning systems, we propose an adaptive sliding-mode passive observer for all speed envelopes of the dynamic positioning vessel with uncertain model parameters. The velocity estimation error is used as the sliding-mode surface; a switching adaptive update law is designed to estimate the upper bound of model uncertainties for restricting the observer gains and improving the robustness of the system. The passivity analysis of the loop for speed estimation is given; the stability of the observer is proved. The algorithm is validated through a hardware-in-the-loop simulation of a dynamic positioning system. |