Unmanned Surface Vessel Steering L₂ Gain Robust Control Based on Closed-Loop Shaping Filter

无人船航向闭环成形滤波L₂增益鲁棒控制

¹ Navigation College, Dalian Maritime University, Dalian 116026, China
² State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116023, China

Received: 9 October 2018

Abstract

With the introduction of the closed-loop shaping filtering method into the L₂ gain robust controller design strategy, a nonlinear robust steering controller for unmanned surface vessel is designed under the planning and control strategy in this paper. The rigorous mathematical analysis and synthesis characteristics of the L₂ gain robust control theory and the Lyapunov design method are fully utilized in the controller design process. Furthermore, the concept of the closed-loop shaping filtering based on the classical closed-loop control theory is taken into the controller design strategy. Therefore, the time domain controller design methods integration with the frequency domain controller design strategy are merged togehter to complete the unmanned surface vessel steering controller design in the view of practical engineering and planning and control strategy. Finally, compared with several practical controller design methods in the multi-direction irregular waves, the simulation results show that the proposed steering controller design strategy has concise structure, distinctive physic meanings of the controller parameters and superior comprehensive control performance.

摘要

将闭环成形滤波方法引入到L₂增益鲁棒控制器设计策略中并对规划控制策略下的无人船航向系统进行控制器设计，借鉴了现代控制理论中的L₂增益鲁棒控制理论和Lyapunov设计方法严谨性特点，并利用经典频域控制理论中的闭环成形滤波的概念，将时域控制器设计与频域控制器设计策略相融合，从实际应用角度出发，完成了规划控制策略下的无人船航向器的设计。最后在仿真实验中，采用所提出的控制器设计策略分别和几种常见实用的控制器在多向不规则波条件下进行仿真对比，证明了所提出的航向控制器具有结构简捷高效，控制参数物理意义明确，综合控制性能好的优势。