控制理论(社会学)
滑模控制
弹道
跟踪(教育)
跟踪误差
模式(计算机接口)
PID控制器
曲面(拓扑)
工程类
瞬态(计算机编程)
变结构控制
计算机科学
控制工程
控制(管理)
数学
非线性系统
人工智能
物理
温度控制
心理学
教育学
几何学
量子力学
天文
操作系统
作者
Lu Gao,Fei Liu,Guangdeng Zong,Yunjun Chen,Kaibo Shi
标识
DOI:10.1016/j.oceaneng.2023.114919
摘要
This paper investigates the finite-time sliding mode trajectory tracking control problem for the autonomous surface vehicle (ASV). A prescribed performance function is introduced to improve the transient and steady-state tracking performance simultaneously. Two PID-type sliding surfaces are constructed such that the closed-loop system can reach the sliding surface with good performance, on which the developed sliding mode controllers can make the system error go to zero. In order to demonstrate the effectiveness of the proposed algorithms, an application example of the surface vehicle CyberShip II is borrowed from Skjetne et al., (2005), for which detailed comparisons are made between finite-time second-order sliding mode control (2-SMC) and finite-time first-order sliding mode control (1-SMC). A large number of simulations show that the proposed 2-SMC algorithm can achieve better control accuracy in comparison with 1-SMC algorithm and existing results.
科研通智能强力驱动
Strongly Powered by AbleSci AI