Trajectory tracking control of underactuated ship based on adaptive iterative sliding mode
Article Text (Baidu Translation)
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摘要: 针对欠驱动船舶轨迹跟踪控制问题, 考虑系统存在未知参数和外界扰动, 提出了一种带强化学习的神经网络自适应迭代滑模控制方法; 利用轨迹跟踪的横向和纵向误差信息构造非线性迭代滑模面, 分别设计了船舶柴油机转速和舵角的神经网络迭代滑模控制器; 根据船舶柴油机转速和舵角的实时测量值, 计算了反映控制量抖振状态的强化学习信号, 在线优化了神经网络的结构和参数, 以抑制控制量的抖振, 进一步增强控制系统的自适应性; 建立了5446TEU集装箱船舶数学模型, 分别对圆轨迹和正弦轨迹进行了跟踪控制。仿真结果表明: 在风浪扰动下圆轨迹跟踪时, 与迭代滑模控制策略相比, 采用提出的控制策略250s左右能跟踪上目标轨迹, 速度提高约1倍, 最大跟踪偏航距离为250m, 误差减小约30%, 控制舵角在400s后基本平稳, 波动幅值约为2°, 舵角和柴油机转速的抖振变化幅值均减小了50%以上, 柴油机转速控制参数和舵角控制参数分别在38~45和3.3~3.9之间实现了自适应调节; 在正弦轨迹跟踪时, 与模糊迭代滑模控制策略相比, 采用提出的控制策略纵向跟踪平均误差小于20m, 减小了50%以上, 舵角抖振量平均幅值小于10°, 减小了60%以上, 柴油机转速控制参数和舵角控制参数分别在5.7~5.8和0.8~2.5之间实现了自适应调节。Abstract: Aiming at the trajectory tracking control problem of underactuated ship, the unknown parameters and external disturbances of ship system were considered, and a control method with reinforcement learning based on neural network adaptive iterative sliding mode was put forward.The nonlinear iterative sliding mode functions were constructed based on the horizontal and vertical deviations of tracking trajectory, and the neural network iterative sliding mode controllers of diesel engine speed and rudder angle were designed, respectively.According to the real-time measurement values of diesel engine speed and rudder angle, the reinforcement learning signals reflecting the chattering states of control quantities were calculated, and the neural networks' constructions and parameters were optimized online to restrain control the chattering states and enhance the control system's adaptability.The mathematical model of 5446 TEU container ship was established, and the trajectory tracking controls of circular and sinusoidal trajectories werecarried out, respectively.Simulation result shows that when the circular trajectory is tracked under the disturbances of wind and sea wave, the tracking time of target trajectory is about 250 s with the proposed control strategy, and the tracking speed is about 1 time higher than the value with iterative sliding mode control strategy.The maximum tracking yaw distance is 250 m, and the error reduces by about 30%.The control rudder angle is basically stable after 400 s, and its chattering amplitude is about 2°.The chattering amplitudes of rudder angle and diesel engine speed reduce by more than 50%.The control parameters of diesel engine speed and rudder angle are adaptively adjusted between 38-45 and 3.3-3.9, respectively.When the sinusoidal trajectory is tracked, the proposed control strategy is compared with the fuzzy iterative sliding mode control strategy, and the average vertical tracking error is less than 20 mand reduces by more than 50%.The average chattering amplitude of rudder angle is less than 10°and reduces by more than 60%.The control parameters of diesel engine speed and rudder angle are adaptively adjusted between5.7-5.8 and 0.8-2.5, respectively.
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图 2 神经网络自适应迭代滑模控制结构
Figure 2. Neural network adaptive iterative sliding mode control structure
图 10 圆轨迹的舵角控制参数k25曲线
Figure 10. Ruder angel control parameter k25curve of circular trajectory
图 17 正弦轨迹的柴油机转速控制参数k15曲线
Figure 17. Diesel engine speed control parameter k15curve of sinusoidal trajectory
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