基于自抗扰控制的水面无人艇路径跟踪控制器

doi:10.6040/j.issn.1672-3961.0.2016.010

摘要/Abstract

摘要： 针对欠驱动水面无人艇非线性系统,设计了一种参数在线优化的路径跟踪自抗扰控制器。对包含不确定动态的水面无人艇数学模型和参数化路径引导方法做了简要的说明,并引入一种基于混沌局部搜索策略的双种群遗传算法,对自抗扰控制器的参数进行在线优化。通过不同条件下的仿真试验结果说明,本研究设计的路径跟踪控制器对海洋环境的不确定动态、未知扰动以及模型的参数摄动具备良好的稳定性和鲁棒性。

关键词: 非线性系统, 水面无人艇, 路径跟踪, 自抗扰控制, 混沌局部搜索, 双种群遗传算法

Abstract: A path following active disturbance rejection controller with parameters online optimization was presented for underactuated USV nonlinear system. USV mathematical model with uncertain dynamics and parameterized path navigation method was described briefly. A novel method based on dual population genetic algorithm with chaotic local search strategy was introduced to online optimize the ADRC parameters. Simulation results under different conditions were presented to show numerically that the path following controller worked as expected even though there existed uncertain dynamics, unknown disturbance and parameter perturbation in the marine environment.

Key words: DPGA, ADRC, chaotic local search, nonlinear system, unmanned surface vessels, path following

中图分类号:

TP273

王常顺,肖海荣. 基于自抗扰控制的水面无人艇路径跟踪控制器[J]. 山东大学学报(工学版), 2016, 46(4): 54-59.

WANG Changshun, XIAO Hairong. Path following controller for unmanned surface vessels based on ADRC[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(4): 54-59.

参考文献

[1] 李家良. 水面无人艇发展与应用[J]. 火力与指挥控制, 2012,37(6):203-207. LI Jialiang. Development and application of unmanned surface vehicle[J]. Fire Control & Command Control, 2012, 37(6):203-207.
[2] 胡云艳. 欠驱动水面无人艇的航迹跟踪控制研究[D]. 哈尔滨: 哈尔滨工程大学, 2011. HU Yunyan. Research on tracking control of underactuated unmanned surface vessels[D]. Harbin: Harbin Engineering University, 2011.
[3] LIU L, WANG D, PENG Z H. Direct and composite iterative neural control for cooperative dynamic positioning of marine surface vessels[J]. Nonlinear Dynamics, 2015, 81(3):1315-1328.
[4] YAN Z P, YU H M, ZHANG W, et al. Globally finite-time stable tracking control of underactuated UUVs[J]. Ocean Engineering, 2015, 107:132-146.
[5] 王飞飞, 闫雪华, 刘允刚. 一类控制系数未知非线性参数化系统的输出反馈实际跟踪控制[J]. 山东大学学报(工学版), 2013, 43(5):55-67. WANG Feifei, YAN Xuehua, LIU Yungang. Practical tracking by output feedback for a class of nonlinearly parameterized systems with unknown control coefficients[J]. Journal of Shandong University(Engineering Science), 2013, 43(5):55-67.
[6] DALY J, TRIBOU M, WASLANDER S. A nonlinear path following controller for an underactuated unmanned surface vessel[C] // Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Algarve, Portugal: Intelligent Robots and Systems, 2012: 82-87.
[7] DONG Z P, WAN L, LI Y M, et al. Trajectory tracking control of underactuated USV based on modified backstepping approach[J]. International Journal of Naval Architecture and Ocean Engineering, 2015, 7(5):817-832.
[8] 高双, 朱齐丹, 李磊. 基于神经网络的高速无人艇模糊PID控制[J]. 系统仿真学报, 2007,19(4):776-779. GAO Shuang, ZHU Qidan, LI Lei. Fuzzy NN control of high-speed unmanned ship[J]. Journal of System Simulation, 2007, 19(4):776-779.
[9] LIU C, ZOU Z J, LI T S. Path following of underactuated surface vessels with fin roll reduction based on neural network and hierarchical sliding mode technique[J]. Neural Computing & Applications, 2015, 26(7):1525-1535.
[10] ASHRAFIUON H, MUSKE K, MCNINCH L, et al. Sliding-mode tracking control of surface vessels[J]. IEEE Transactions on Industrial Electronics, 2008, 55(11):4004-4011.
[11] HAN J Q. From PID to active disturbance rejection control[J]. IEEE Transactions on Industrial Electronics, 2009, 56(3):900-906.
[12] XUE W C, BAI W Y, YANG S, et al. ADRC with adaptive extended state observer and its application to air-fuel ratio control in gasoline engines[J]. IEEE Trans. on Industrial Electronics, 2015, 62(9):5847-5857.
[13] 周风余, 单金明, 王伟, 等. 基于ADRC 的船舶航向控制器设计与仿真研究[J]. 山东大学学报(工学版), 2009, 39(1):57-62,76. ZHOU Fengyu, SHAN Jinming, WANG Wei, et al. Research on the design and simulation of a ship course controller based on ADRC[J]. Journal of Shandong University(Engineering Science), 2009, 39(1):57-62,76.
[14] 刘文江, 隋青美, 周风余. 基于自抗扰控制技术的船舶直线航迹控制器设计[J]. 山东大学学报(工学版), 2010, 40(6):48-53. LIU Wenjiang, SUI Qingmei, ZHOU Fengyu. Straight-line tracking control of ships based on ADRC[J]. Journal of Shandong University(Engineering Science), 2010, 40(6):48-53.
[15] 胡坤, 张孝芳, 刘常波. 基于遗传算法的无人水下航行器深度自抗扰控制[J]. 兵工学报, 2013, 34(2):217-222. HU Kun, ZHANG Xiaofang, LIU Changbo. Unmanned underwater vehicle depth ADRC based on genetic algorithm near surface[J]. Acta Armamentarii, 2013, 34(2):217-222.
[16] 潘为刚, 李贻斌. 优化自抗扰控制器在船舶主机上的应用与仿真研究[J]. 内燃机工程, 2012, 33(5):74-78. PAN Weigang, LI Yibin. Application and simulation research of optimal active disturbance rejection controller in marine main engine[J]. Chinese Internal Combustion Engine Engineering, 2012, 33(5):74-78.
[17] 王瑞琪, 张承慧, 李珂. 基于改进混沌优化的多目标遗传算法[J]. 控制与决策, 2011, 26(9):1391-1397. WANG Ruiqi, ZHANG Chenghui, LI Ke. Multi-objective genetic algorithm based on improved chaotic optimization[J]. Control and Decision, 2011, 26(9):1391-1397.
[18] PARK T, CHOE R, RYU K. Dual-population genetic algorithm for nonstationary optimization[C] // Proceedings of the 10th Annual Conference on Genetic and Evolutionary Computation. Atlanta, U S A: Association for Computing Machinery, 2008: 1025-1032.
[19] ESSAFI I, MATI Y, DAUZÈRE-PÉRÈS S. A genetic local search algorithm for minimizing total weighted tardiness in the Job-Shop scheduling problem[J]. Computers & Operations Research, 2008, 35(8):2599-2616.
[20] DO K, PAN J. Global robust adaptive path following of underactuated ships[J]. Automatica, 2006, 42(10):1713-1722.
[21] FOSSEN T, BREIVIK M, SKJETNE R. Line-of-sight path following of underactuated marine craft[C] // Proceedings of the 6th IFAC MCMC. Oxford, UK: IFAC Elsevier Ltd, 2003: 244-249.
[22] BREIVIK M, HOVESTEIN V, FOSSEN T. Staight line target tracking for unmanned surface vehicles[J]. Modeling, Identification and Control, 2008, 29(4):131-149.
[23] PEYMANI E, FOSSEN T. Path following of underwater robots using Lagrange multipliers[J]. Robotics and Autonomous Systems, 2015, 67:44-52.
[24] 赵志良. 非线性自抗扰控制器的收敛性[D]. 北京:中国科学技术大学, 2012. ZHAO Zhiliang. Convergence of nonlinear active disturbance rejection control[D]. Beijing: University of Science and Technology of China, 2012.
[25] PARK T, RYU K. A dual-population genetic algorithm for adaptive diversity control[J]. IEEE Transactions on Evolutionary Computation, 2010, 14(6):865-884.

相关文章 15

[1]	孙园,曾惠权,欧阳苏建,高佳倩,王绮楠,林智勇. 基于粒子群算法的模糊大脑情感学习非线性系统辨识[J]. 山东大学学报 (工学版), 2024, 54(1): 25-32.
[2]	程春蕊,毛北行. 一类非线性混沌系统的自适应滑模同步[J]. 山东大学学报 (工学版), 2020, 50(5): 1-6.
[3]	朱晓强,钟麦英. 基于强跟踪H_-/H_∞优化的无人机系统故障检测[J]. 山东大学学报 (工学版), 2019, 49(1): 66-74.
[4]	李炜,王可宏,曹慧超. 基于新型ESF的一类非线性系统故障滤波方法[J]. 山东大学学报(工学版), 2017, 47(5): 7-14.
[5]	毛海杰,李炜,王可宏,冯小林. 基于自抗扰的多电机转速同步系统传感器故障切换容错策略[J]. 山东大学学报(工学版), 2017, 47(5): 64-70.
[6]	陈杰,钟麦英,张利刚. 基于L2范数最小估计的无人机飞控系统故障检测[J]. 山东大学学报(工学版), 2017, 47(5): 89-95.
[7]	赵煊,钟麦英,郭丁飞. 基于等价空间的无人机飞行控制系统故障检测[J]. 山东大学学报(工学版), 2017, 47(5): 150-156.
[8]	王飞飞1,闫雪华2*,刘允刚3. 一类控制系数未知非线性参数化系统的输出反馈实际跟踪控制[J]. 山东大学学报(工学版), 2013, 43(5): 55-67.
[9]	刘文江1,2,隋青美1,周风余1. 基于自抗扰控制技术的船舶直线航迹控制器设计[J]. 山东大学学报(工学版), 2010, 40(6): 48-53.
[10]	尚芳刘允刚张承慧. 一类不确定非线性系统输出反馈扰动抑制[J]. 山东大学学报(工学版), 2010, 40(1): 19-27.
[11]	阮久宏, 李贻斌, 杨福广, 荣学文. 有人驾驶AWID-AWIS车辆动力学控制研究[J]. 山东大学学报(工学版), 2010, 40(1): 10-14.
[12]	杨福广李贻斌阮久宏荣学文宋锐. 基于ADRC的低速位置伺服系统及其仿真[J]. 山东大学学报(工学版), 2009, 39(6): 48-52.
[13]	张健刘允刚. 一类不确定高阶随机非线性系统的自适应镇定[J]. 山东大学学报(工学版), 2009, 39(6): 35-47.
[14]	周风余,单金明,王伟,陈景帅,阮久宏. 基于ADRC的船舶航向控制器设计与仿真研究[J]. 山东大学学报(工学版), 2009, 39(1): 57-62.
[15]	阮久宏,李贻斌,荣学文,邱绪云 . 高速移动平台横向运动自抗扰控制研究[J]. 山东大学学报(工学版), 2008, 38(4): 5-10 .

多维度评价

Viewed

Full text

Abstract

Cited

Shared

Discussed