基于鲁棒视线制导方法的欠驱动船舶路径跟踪

徐双, 刘程, 郭玮丽

doi:10.16411/j.cnki.issn1006-7736.2024.01.003

大连海事大学学报 >

2024 , Vol. 50 >Issue 1: 20 - 27

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.003

基于鲁棒视线制导方法的欠驱动船舶路径跟踪

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(大连海事大学，航海学院，辽宁大连 116026)

徐双（1997— ），女，硕士生，E-mail：xs1120211072@dlmu.edu.cn。刘程*（1987 — ），女，博士，副教授，博士生导师，E-mail：chengliu@dlmu.edu.cn。

收稿日期: 2023-09-15

修回日期: 2023-12-06

录用日期: 2023-12-06

网络出版日期: 2023-12-06

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Underactuated ship path tracking based on robust line-of-sight guidance method

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(Navigation College, Dalian Maritime University, Dalian 116026, China)

Received date: 2023-09-15

Revised date: 2023-12-06

Accepted date: 2023-12-06

Online published: 2023-12-06

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摘要

为解决船舶路径跟踪中的欠驱动和船舶模型不确定问题，提出一种基于鲁棒视线制导方法的神经网络滑模控制器。首先，利用鲁棒视线制导方法解决欠驱动船舶输入自由度维数小于输出自由度维数的问题，同时，减少船舶运动学差异的影响；其次，把径向基函数神经网络和滑模控制方法相结合设计控制器，减少外界干扰的影响，实现了欠驱动船舶的路径跟踪；最后，通过李雅普诺夫稳定性定理分别证明了所设计制导系统和控制系统的稳定性。该控制器引入了鲁棒视线制导方法对制导系统进行设计，在减少外界干扰影响的同时考虑了船舶运动学差异的影响。通过仿真实验分别实现了欠驱动船舶的直线路径跟踪和曲线路径跟踪，验证了所设计的控制器的有效性和可行性。

关键词： 欠驱动船舶; 路径跟踪; 鲁棒视线（LOS）制导; 神经网络; 滑模控制

本文引用格式

徐双, 刘程, 郭玮丽 . 基于鲁棒视线制导方法的欠驱动船舶路径跟踪[J]. 大连海事大学学报, 2024 , 50(1) : 20 -27 . DOI: 10.16411/j.cnki.issn1006-7736.2024.01.003

Abstract

A neural network sliding mode controller based on the robust line-of-sight (LOS) guidance method for the path tracking of underactuated ship was proposed to solve the problem of underactuated and ship model uncertainty. Firstly, the robust LOS was utilized to solve the problem that the ship’s input degrees of freedom dimension were less than the output degrees of freedom dimension, and at the same time, to reduce the influence of the differences of ship kinematics. Secondly, the controller was designed by combining radial basis function neural network and sliding mode to reduce the effect of external disturbances and realize the path tracking of underactuated ships. Finally, the Lyapunov stability theory was applied to prove the stability of the guidance system and the control system. A robust line-of-sight guidance method was introduced to design the guidance system, taking into account the influence of ship kinematics differences while reducing external interference. The simulation experiments respectively realize the linear path tracking and curved path tracking of underactuated ships, and verify the effectiveness and feasibility of the designed controller.

Key words： underactuated ship; path tracking; robust line-of-sight(LOS) guidance;neural networks;sliding mode control

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