| 引用本文: | 刘永超,朱齐丹,王立鹏.带有输出约束的水面船舶实际有限时间控制[J].控制理论与应用,2023,40(2):353~359.[点击复制] |
| LIU Yongchao,ZHU Qidan,WANG Lipeng.Practical finite-time control for marine surface vessel with output constraints[J].Control Theory and Technology,2023,40(2):353~359.[点击复制] |
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| 带有输出约束的水面船舶实际有限时间控制 |
| Practical finite-time control for marine surface vessel with output constraints |
| 摘要点击 1338 全文点击 531 投稿时间：2021-12-30 修订日期：2022-10-02 |
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| DOI编号 10.7641/CTA.2022.11306 |
| 2023,40(2):353-359 |
| 中文关键词 水面船舶 有限时间 反步法 输出约束 可微幂函数 |
| 英文关键词 marine surface vehicle finite time backstepping technique output constraints differentiable power function |
| 基金项目 国家重点研发计划项目(2019YFE0105400), 国家自然科学基金项目(62173103, 52171299)和中央高校基本科研业务费专项资金项目(3072022JC 0402)资助. |
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| 中文摘要 |
| 考虑带有输出约束的水面船舶系统, 提出一种自适应神经网络航迹跟踪实际有限时间控制算法. 基于反步
法设计有限时间控制律, 构造障碍李雅普诺夫函数处理输出约束问题, 采用神经网络逼近船舶模型中的不确定信
息. 在控制算法递推过程中, 通过设计一个关于跟踪误差的可微幂函数来避免控制器中的奇异问题. 借助李雅普诺
夫稳定性分析理论, 证明了航迹跟踪误差在有限时间内收敛到有界的邻域内. 最后, 以一艘1: 70的比例模型船作为
仿真对象, 来验证所提出的航迹跟踪实际有限时间控制算法的有效性. |
| 英文摘要 |
| This paper presents an adaptive neural network trajectory tracking control scheme for a marine surface
vehicle with output constraints. The finite-time control law is designed by the virtue of backstepping technique. The
barrier Lyapunov functions are constructed to address the output constraints problem. The neural networks are adopted to
approximate model uncertainties of the marine surface vehicle. In the recursively design process, a differentiable power
function of tracking error is designed to avoid the singularity problem. By means of the Lyapunov stability analysis theory,
the trajectory tracking error can converge to a bounded neighbourhood in finite time. Finally, a 1: 70 scale replica of supply
ship is used as a simulation object to illustrate the validity of the presented trajectory tracking practical finite time control
method. |