控制理论(社会学)
设定值
反推
稳健性(进化)
弹道
非线性系统
执行机构
滑模控制
动态定位
李雅普诺夫函数
Lyapunov稳定性
计算机科学
控制工程
控制器(灌溉)
工程类
自适应控制
控制(管理)
农学
生物化学
化学
物理
量子力学
天文
人工智能
海洋工程
生物
基因
作者
Ligang Tang,Fei Liu,Lei Wang,Yiting Wang
标识
DOI:10.1016/j.oceaneng.2023.115199
摘要
This paper addresses the fixed-time trajectory tracking control and setpoint regulation problems for dynamic positioning (DP) ships subject to unknown time-varying disturbances, system uncertainties, and actuator saturation. To meet the resistance of the low-frequency disturbances and system uncertainties, a continuous fixed-time disturbance observer (FTDO) based on integral sliding mode and fixed-time control is constructed. A nonlinear auxiliary dynamic system is introduced to mitigate the inconsistency between command forces and actual control forces, in which the feedback of the bias Δτ guarantees the input constraints for the design of the proposed controller. The explosion-of-complexity problem inherent in traditional backstepping is addressed based on a nonlinear first-order filter. Furthermore, a robust fixed-time control law with constraints is developed to track the predefined trajectory and the desired setpoint. Theoretical analyses demonstrate the fixed-time stability of the closed-loop system via Lyapunov analysis. Numerical simulation results illustrate the effectiveness and robustness of the proposed control approach.
科研通智能强力驱动
Strongly Powered by AbleSci AI