基于PCLOS的分数顺序滑动模式随机路径,对具有多个干扰和约束的低调船舶进行控制
Yanyun Wang1, Yuxiang Guo2, Zhuxin Zhang1
1School of Ocean Engineering and Technology, Sun Yat-sen University and Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai, Guangdong 519000, China.
ISA transactions
|October 8, 2024
概括
本研究引入了一项针对在复杂的海洋环境中驾驶的低功率船舶 (UMV) 的新控制策略. 分数顺序的滑动模式随机 (FSMS) 控制确保稳定的路径,尽管干扰和约束.
科学领域:
- 海洋机器人和控制系统
- 非线性控制理论 不线性控制理论
- 随机系统分析 随机系统分析
背景情况:
- 由于具有决定性和随机性干扰的复杂海洋环境,未经调节的海洋车辆 (UMV) 在路径上面临挑战.
- 现有的控制策略经常在UMV路径的同时与干扰拒绝和约束满意度作斗争.
研究的目的:
- 为UMV制定一个强大的控制策略,以便在多种干扰和约束下实现准确的路径.
- 为了提高系统动态响应速度,并减轻UMV控制系统中的聊天现象.
主要方法:
- 一个位置受约束的视线 (PCLOS) 引导法利用一个通用屏障Lyapunov函数被提议用于约束坚持.
- 设计了一个分数顺序的滑动模式随机 (FSMS) 控制器,集成分数顺序理论和滑动模式控制原则.
- 随机干扰观察者估计缓慢变化的确定性干扰,辅助动态补偿器解决输入约束.
主要成果:
- 理论分析证实了闭环系统的稳定性和满足位置约束要求.
- 拟议的FSMS控制策略有效地减轻了聊天,并改善了系统动态响应.
- 对比模拟表明开发的控制策略的卓越性能和有效性.
结论:
- 基于PCLOS的新型FSMS控制策略为UMV路径在具有挑战性的海洋环境中提供了强大的解决方案.
- 综合方法有效地处理随机干扰,位置约束和输入限制,确保可靠的UMV操作.
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