Stabilization And Tracking Of Underactuated Surface Vessels In Random Waves With Fin Based On Adaptive Hierarchical Sliding Mode Technique
Stabilization And Tracking Of Underactuated Surface Vessels In Random Waves With Fin Based On Adaptive Hierarchical Sliding Mode Technique
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DOI：
10.1002/asjc.920
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发表时间：
2014-09
影响因子：
2.4
通讯作者：
Cheng Liu;Z. Zou;Xian‐rui Hou
中科院分区：
文献类型：
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作者：
Cheng Liu;Z. Zou;Xian‐rui Hou
轨迹跟踪和横摇稳定是船舶运动控制中的两个重要环节。轨迹跟踪是一种低频控制，而通过鳍的滚动稳定是一种高频控制。然而，他们已经分别研究了以前，大多数跟踪控制欠驱动的水面舰艇在以前的研究不考虑通过鳍的滚动稳定。但实际上，它们是一个完整的系统。本文提出了一种简单的控制策略，同时实现轨迹跟踪和鳍滚动稳定。考虑了水面船舶六自由度数学模型的四个自由度，包括纵荡、横荡、横摇和偏航。该方法以冲击力、横摇力矩和偏航力矩为控制输入，对位置、偏航角和横摇角进行控制。控制输入的数量少于要控制的输出。因此，我们正在处理一个欠驱动的问题。采用自适应递阶滑模控制技术来处理欠驱动问题。欠驱动水面船舶的稳定性作为一个特殊的情况进行了研究。随机波被用来测试所设计的控制器的鲁棒性。李雅普诺夫稳定性理论用于证明闭环系统的稳定性。仿真结果验证了该策略的有效性。
Trajectory tracking and roll stabilization are both vital practices in ship motion control. Trajectory tracking is a kind of low‐frequency control, while roll stabilization by means of fins is a kind of high‐frequency control. However, they have been studied separately previously; most tracking control of underactuated surface vessels in the previous studies do not account for roll stabilization by means of fins. In reality, however, they are an integral system. In this paper, a simple control strategy is proposed to achieve trajectory tracking and fin roll stabilization simultaneously. Four degrees of freedom derived from a six degrees of freedom mathematical model of a surface vessel is considered, including surge, sway, roll and yaw. Surge force, roll moment and yaw moment are considered as control inputs, while position, yaw angle and roll angle are controlled. The number of control inputs is fewer than the outputs to be controlled. Therefore, we are dealing with an underactuated problem. An adaptive hierarchical sliding mode control technique is employed to deal with the underactuation. Stabilization of underactuated surface vessels is studied as a special case. Random waves are applied to test the robustness of the designed controllers. Lyapunov stability theory is used to show the stability of closed‐loop system. The simulation results verify the effectiveness of the proposed strategy.