预览加载中，请您耐心等待几秒...

基于多滑模面的船舶航向非线性系统终端滑模模糊控制(英文).docx

预览
1/2
2/2

在线预览结束，喜欢就下载吧，查找使用更方便

下载提示 文本预览

如果您无法下载资料，请参考说明：

1、部分资料下载需要金币，请确保您的账户上有足够的金币

2、已购买过的文档，再次下载不重复扣费

3、资料包下载后请先用软件解压，在使用对应软件打开

基于多滑模面的船舶航向非线性系统终端滑模模糊控制(英文) 1.Introduction Thecontrolofship'sheadingisessentialforsafenavigation,especiallyinchallengingseaconditions.However,thenonlineardynamicsofshipsandthepresenceofexternaldisturbancescanmakeitdifficulttoachieveaccurateandefficientcontrol.OnesolutionistouseaTerminalSlidingModeControl(TSMC)approach,whichensuresthesystem'sconvergencetoadesiredstateinfinitetime.ThispaperaimstoproposeanovelTSMCmethodbasedonmultipleslidingmodesandfuzzycontrolforshipheadingcontrol. 2.ProblemFormulation Thenonlineardynamicsofaship'sheadingcanberepresentedbythefollowingequation: ψ̇=r-δ whereψistheship'sheadingangle,risthedesiredheadingangle,andδistherudderangle.Theobjectiveofthecontrolsystemistotrackthedesiredheadinganglerbyadjustingtherudderangleδ.However,thepresenceofexternaldisturbances,suchaswindandcurrents,canaffectthecontrolsystem'sperformance. 3.TerminalSlidingModeControlwithMultipleSlidingModes Toaddressthechallengesassociatedwithshipheadingcontrol,weproposeaTSMCmethodbasedonmultipleslidingmodes.Thesystemperformanceisimprovedbyswitchingbetweendifferentslidingmodesbasedonthecontrolerror.Thecontrollawisdefinedas: u=-λsign(s)-σμ(s)(λsign(s)+υ) wheresistheslidingerror,λistheslidingsurfaceslope,σisapositiveconstant,μ(s)isthefuzzymembershipfunction,andυisthefuzzyoutput.Attheboundarylayer,thesecondtermdisappears,resultinginaclassicalslidingmodecontrol. 4.FuzzyLogicController TheadditionofaFuzzyLogicController(FLC)totheTSMCimprovesthesystem'srobustnesstoexternaldisturbances.TheFLCutilizesexpertknowledgetocapturetheuncertainandvaguenatureoftheexternaldisturbances.Inthisstudy,theFLCisusedtoadjustthefuzzyoutputυ.TheinputtotheFLCistherateofchangeoftheslidingerror.TheFLCmembershipfunctionsandrulesaredesignedbasedonexpertknowledgeandexperience. 5.SimulationResults TheproposedTSMCmethodwithmultipleslidingmodesandFLCwasevaluatedwithasimulationstudyusingMATLAB/Simulink.Theperformanceofthecontrolsystemwasevaluatedusingthetrackingerrorandthecontrolinput.Thesimulationresultsdemons