针对欠驱动船舶的曲线航迹跟踪问题，首先采用自抗扰控制技术，通过扩张状态观测器实时估计和补偿系统的内部和外界扰动，将非线性快速终端滑模引入误差反馈控制环节，并采用幂指数趋近律，设计出快速终端滑模-自抗扰控制律，提高系统的收敛速度和误差跟踪精度，减小系统的抖振；然后对野本船舶模型简化变形，构造降维方程，将航迹跟踪问题转化为航向镇定问题。Simulink 仿真结果表明，控制器能够实现船舶对期望曲线航迹的快速、精确跟踪，具有良好控制效果。
This paper adopts extended states observer in active disturbance rejection controller to estimate and compensate the internal and external disturbances in real time , which is specific to curve-path tracking problem of underactuated surface vessel. Nonsingular fast terminal sliding mode combined with power exponential reaching law are introduced to nonsingular state error feedback to design FTSM-ADRC control law, which improve the convergence speed and steady-state tracking accuracy of the system and reduce the chattering. Finally, designing a dimension reduction equation, the complicated path following is changed to the simple heading stabilization. Simulation results verify that the controller can follow an expected curve-path fast and accurately, and with good effect.
2016,38(8): 57-61 收稿日期：2016-3-2
DOI：10.3404/j.issn.1672-7619.2016.08.012
分类号：U664.82
基金项目：国家自然科学基金资助项目(51179019)；辽宁省教育厅重点实验室项目(LZ2015006)；中央高校基本科研业务费专项资金资助项目(3132014022)
作者简介：秦朝宇(1991-),男,硕士研究生,研究方向为交通信息工程及船舶自动化控制。
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