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考虑深潜救生艇动力定位系统中的参数不确定性和未知慢变干扰,利用滤波反步法设计了基于模糊系统的自适应控制规律.首先,在深潜救生艇的建模过程中考虑了推进器的动态特性,但使得系统的阶数增加;然后,为了简化控制形式,在控制器的设计中引入二阶滤波器来逼近虚拟控制信号及其导数值,避免了复杂的求导过程;最后针对系统中的耦合非线性和未知慢变干扰,设计了自适应模糊系统来对其进行估计和补偿.利用基于李雅普诺夫稳定性理论证明了跟踪误差和参数估计误差是一致最终有界的.针对某一深潜救生艇的缩小模型进行仿真实验,验证了所设计控制器的有效性.
Considering the parameter uncertainties and unknown slow-varying disturbances in the dynamic positioning system of deep submarine, the adaptive control law based on fuzzy system is designed by using the filter backstepping method.First, in the modeling of deep submergence vehicle, the thruster However, in order to simplify the control form, a second-order filter is introduced into the design of the controller to approximate the virtual control signal and its derivative value, avoiding the complicated derivation process. Finally, In this system, an adaptive fuzzy system is designed to estimate and compensate the coupling nonlinearity and the unknown slow perturbation.According to the Lyapunov stability theory, it is proved that the tracking error and the parameter estimation error are consistent and ultimately bounded. A reduced model of a deep-dive lifeboat is simulated to verify the effectiveness of the designed controller.