带有驱动器冗余的欠驱动船舶的自适应容错控制

摘要

In this paper,a nonlinear adaptive fault-tolerant control strategy is developed to force an underactuated ship with thruster redundancy to follow a predefined path,despite the presence of unknown system parameters and environmental disturbances induced by wave,wind and ocean current.The techniques involved in the design and analysis include the backstepping,parameter projection techniques and a traverse function.It is shown that with our proposed controller,the reference path can be tracked globally with an arbitrarily small tracking error.Simulation re-sults demonstrate the effectiveness of our proposed controller.%在本文中,一种非线性自适应控制容错策略的开发使得具有推力器冗余的欠驱动船舶可以遵循预定的路径行驶,尽管存在未知的系统参数以及由波浪、风和洋流引起的环境干扰.在设计和分析中涉及的技术包括使用反步法、参数投影技术和横向函数.结果表明,本文所提出的控制器,参考路径可以用任意小的跟踪误差进行全局跟踪.仿真结果证明了该控制器的有效性.