| 基于云模型的船舶航迹跟踪滑模控制 |
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| 引用本文： | 张良欣,邢道奇,张世云,王晓林.基于云模型的船舶航迹跟踪滑模控制[J].计算机工程,2012,38(10):227-229. |
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| 作者姓名： | 张良欣 邢道奇 张世云 王晓林 |
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| 作者单位： | 海军工程大学后勤指挥与工程系,天津,300450 |
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| 基金项目： | 张良欣(1965－)，男，教授、博士生导师，主研方向：图形图像处理；邢道奇，博士研究生；张世云、王晓林，副教授 |
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| 摘 要： | 为解决船舶路径跟踪控制中存在的非线性问题，引入滑模控制实现船舶的轨迹跟踪。采用云模型与指数趋近律结合的方法，设计基于云模型的轨迹跟踪智能滑模控制器，以减少滑模控制中的抖振。仿真结果表明，通过云模型的不确定性推理，智能滑模控制器能够动态调整滑模控制的趋近速度，抑制抖振的产生，船舶动态轨迹跟踪性能良好，能够精确控制航迹。
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| 关 键 词： | 轨迹跟踪 云模型 不确定性推理 滑模控制 指数趋近律 抖振 |
| 收稿时间： | 2011-07-07 |
Sliding-mode Control for Ship Trajectory Tracking Based on Cloud Model |
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| ZHANG Liang-xin
,
XING Dao-qi
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ZHANG Shi-yun
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WANG Xiao-lin.Sliding-mode Control for Ship Trajectory Tracking Based on Cloud Model[J].Computer Engineering,2012,38(10):227-229. |
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| Authors: | ZHANG Liang-xin XING Dao-qi ZHANG Shi-yun WANG Xiao-lin |
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| Affiliation: | (Department of Logistics Command and Engineering,Naval University of Engineering,Tianjin 300450,China) |
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| Abstract: | In order to solve nonlinear problems in trajectory tracking,the sliding-mode method is presented in tracking control of surface vessels.The intelligent sliding-mode controller is designed by combination of cloud model and exponential reaching law so as to alleviate the chattering.With reasoning method of cloud model,the reaching speed of the intelligent sliding-mode controller can be adjusted dynamically.Simulation results indicate that the control performance of dynamic tracking is good,the chattering is effectively weakened,and the method can accurately track trajectory. |
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| Keywords: | trajectory tracking cloud model uncertain reasoning sliding-mode control exponential reaching law chattering |
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