文献类型：期刊文献

中文题名：基于NESO的改进非奇异终端滑模船舶航向控制

英文题名：Improved non-singular terminal sliding mode of ship heading control based on NESO

作者：常雨芳[1];王澳黎[1];夏亚平[1];严怀成[2];黄文聪[1]

机构：[1]湖北工业大学电气与电子工程学院,武汉430068;[2]华东理工大学信息科学与工程学院,上海200237

年份：2025

卷号：29

期号：12

起止页码：1895

中文期刊名：船舶力学

外文期刊名：Journal of Ship Mechanics

收录：;北大核心:【北大核心2023】；

基金：国家自然科学基金资助项目(62473133)。

语种：中文

中文关键词：船舶;船舶航向控制;非奇异终端滑模控制;非线性扩张状态观测器;鲁棒性

外文关键词：ship;ship heading control;non singular terminal sliding mode control;nonlinear extended state observer;robustness

摘要：针对船舶航行过程航向易受外界环境扰动问题,本文提出一种基于非线性扩张状态观测器的改进非奇异终端滑模控制策略。首先,建立船舶航向系统非线性数学模型,设计了基于双曲正切函数的非线性扩张状态观测器,对船舶航行过程受到的外界扰动进行估计,并进行前馈补偿;然后,引入改进非奇异终端滑模面和双幂次趋近律,设计了改进非奇异终端滑模控制律,降低了滑模控制律抖振,提高了滑模控制律收敛速度,并将非线性扩张状态观测器和改进非奇异终端滑模控制律结合构成复合控制律;最后,基于李雅普诺夫稳定性理论对控制律的稳定性进行了分析。仿真结果表明,所提出的控制策略能有效提高船舶航向控制系统的跟踪性能和鲁棒性。
Aiming at the problem that the ship's course is easily disturbed by the external environment during navigation,an improved non-singular terminal sliding mode control strategy based on Nonlinear Extended State Observer(NESO)is proposed.Firstly,a nonlinear mathematical model of ship's heading system is established,and a nonlinear expanded state observer based on the hyperbolic tangent function is designed to estimate the external disturbances encountered during the ship's navigation and perform feedforward compensation.Then,based on the improved non-singular terminal sliding mode surface and the double power reaching law,an improved non-singular terminal sliding mode control law is designed,which reduces the chattering of the sliding mode control law and improves the convergence speed.The nonlinear extended state observer and the improved non-singular terminal sliding mode control law are combined to form a composite control law.Finally,the stability of the control law is analyzed based on Lyapunov stability theory.Simulation results show the proposed control strategy can effectively improve the tracking performance and robustness of the ship heading control system.