第40卷第1期2023年1月控制理论与应用ControlTheory&ApplicationsVol.40No.1Jan.2023推推推进进进器器器饱饱饱和和和约约约束束束的的的水水水面面面无无无人人人艇艇艇固固固定定定时时时间间间精精精准准准跟跟跟踪踪踪控控控制制制王宁1†,王仁慧2,鲁挺2(1.大连海事大学轮机工程学院,辽宁大连116026;2.大连海事大学船舶电气工程学院,辽宁大连116026)摘要:针对复杂扰动、完全未知系统动态以及推进器饱和约束的水面无人艇高精度跟踪控制问题,提出一种基于固定时间非奇异终端滑模的无模型固定时间精准跟踪控制(MFPTC)方案.首先,设计有限时间集总观测器,精确重构和补偿集总未知项;其次,引入自适应辅助系统消除推进器饱和特性,使得MFPTC方案在饱和约束下实现期望时间内对预定轨迹的精准跟踪;进而,基于反正切函数构造固定时间幂次趋近律,加快滑模变量收敛速度且有效削弱控制抖振;最后,采用CyberShipII实验模型进行仿真研究,结果验证所提出MFPTC方案的有效性与优越性.关键词:无模型固定时间跟踪控制;非奇异终端滑模;有限时间观测器;推进器饱和;水面无人艇引用格式:王宁,王仁慧,鲁挺.推进器饱和约束的水面无人艇固定时间精准跟踪控制.控制理论与应用,2023,40(1):55–64DOI:10.7641/CTA.2022.10778Fixed-timeprecisiontrackingcontrolofanunmannedsurfacevehicleconstrainedbythrustersaturationsWANGNing1†,WANGRen-hui2,LUTing2(1.MarineEngineeringCollege,DalianMaritimeUniversity,DalianLiaoning116026,China;2.MarineElectricalEngineeringCollege,DalianMaritimeUniversity,DalianLiaoning116026,China)Abstract:Inthispaper,amodel-freefixed-timeprecisiontrackingcontrol(MFPTC)schemebasedonthefixed-timenonsingularterminalsliding-mode(FNTSM)isproposedforhighprecisiontrackingcontrolofanunmannedsurfacevehicleinthepresenceofcomplexdisturbances,completelyunknownsystemdynamicsandthrustersaturations.Firstly,afinite-timelumpobserverisdesignedtoaccuratelyobserveandcompensateforthelumpedunknowns.Secondly,anadaptiveassistantsystemisintroducedtoeliminatethesaturationcharacteristicsofthethrusters,sothattheMFPTCschemecanachieveaccuratetrackingofthepredefinedtrajectoryinthedesiredtimeunderthesaturationconstraint.Andthen,afixed-timepowerreachinglawisconstructedbasedontheinversetangentfunction,whichc...
