带有执行器故障的多水面船固定时间分布式滑模协同控制
作者:
作者单位:

哈尔滨工程大学

作者简介:

通讯作者:

中图分类号:

TP273

基金项目:

第七代超深水钻井单元创新项目


Fixed-time Distributed Sliding Mode Cooperative Control for Multiple Surface Vessels with Actuator Faults
Author:
Affiliation:

Harbin Engineering University

Fund Project:

7th Generation Ultra Deep Water Drilling Unit Innovation Project

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    摘要:

    针对未知环境干扰、未知执行器故障等多水面船协同控制问题,提出了一种带有执行器故障的多水面船 固定时间分布式滑模协同控制方法. 该方案保证了协同控制系统的全局固定时间稳定性. 首先,设计了一种固定 时间干扰观测器,用于估计集总扰动(包括未知环境扰动和未知执行器故障). 其次,引入固定时间非奇异快速终端滑 模面,有效地消除了系统的奇异性,改善了系统的抖振. 再次,提出了一种基于固定时间非奇异快速终端滑模面和固 定时间干扰观测器的分布式容错控制器,使得收敛时间上界与系统初始状态无关. 最后,通过仿真验证了所提出控 制律的有效性.

    Abstract:

    Aiming at the problems of cooperative control for multiple surface vessels, such as unknown environmental disturbances and actuator faults, a fixed-time distributed sliding mode cooperative control method for multiple surface vessels with actuator faults is proposed. The scheme ensures the global fixed time stability of the cooperative control system. Firstly, a fixed-time disturbance observer is designed to provide the estimations of lumped disturbances including unknown environmental disturbances and actuator faults. Secondly, fixed-time non-singular fast terminal sliding mode manifold is introduced to effectively eliminate singularity and improve chattering of system. Thirdly, a distributed fault tolerant controller based on fixed-time non-singular fast terminal sliding mode manifold and fixed-time disturbance observer is proposed to make the upper bounds of convergence time is independent of the initial state. Finally, simulations are given to demonstrate the proposed control law.

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历史
  • 收稿日期:2022-05-03
  • 最后修改日期:2022-11-17
  • 录用日期:2022-08-09
  • 在线发布日期: 2022-08-27
  • 出版日期: