山东半岛沿岸海域航行中补给船抗干扰同步控制
Anti-disturbance Synchronization Control for Supply Ship in the Coastal Area of Shandong Peninsula
韩国杰 1刘志朋 1巩庆涛 2徐丙莲 3胡鑫3
作者信息
- 1. 鲁东大学水利工程学院,山东烟台 264039
- 2. 鲁东大学蔚山船舶与海洋学院,山东烟台 264039
- 3. 鲁东大学数学与统计科学学院,山东烟台 264039
- 折叠
摘要
本文研究了山东半岛沿岸海域航行中补给船同步控制问题,并解决网络攻击和干扰补偿引起的增益时变问题.首先,构造了干扰观测器以提供海洋中的时变干扰估计值,构造了自适应律实时更新未知控制参数;其次,通过将干扰观测器与矢量反步技术相结合,设计一种用于同步的抗干扰跟踪控制器;最后,在1:70比例的补给船模型上进行了仿真模拟.结果表明:抗干扰同步跟踪控制器能够实现补给船与被补给船的同步航行,并保证闭环同步跟踪控制系统中的所有信号全局一致最终有界.
Abstract
The synchronization control problem is investigated for supply ship in the coastal area of Shandong Peninsula in this paper,and the problem of the time-varying gain caused by cyber-attacks and disturbance compensation is solved.Firstly,a disturbance observer was designed to provide time-varying disturbance esti-mates in the ocean,and the adaptive law was constructed to update the unknown control parameters in real time;secondly,an anti-disturbance tracking controller for synchronization was designed by combining the dis-turbance observer with the vector backstepping technique;finally,simulations were conducted on a 1∶70 scale model supply ship.The results show that the anti-disturbance tracking controller can realize the synchronization navigation between the supply ship and the supplied ship,and all signals in the closed-loop synchronization tracking control system are global uniform ultimate boundedness.
关键词
航行补给/同步控制/干扰观测器/网络攻击/矢量反步法Key words
underway replenishment/synchronization control/disturbance observer/cyber-attacks/vector back-stepping technique引用本文复制引用
基金项目
国家自然科学基金面上项目(62273172)
山东省高等学校优秀青年创新团队项目(2021KJ042)
山东省海上航天装备技术创新中心开放课题(MAETIC2021-01)
山东省研究生教育教学改革研究项目(SDYJG21045)
出版年
2024
NETL
NSTL
万方数据