基于u控制的滑模自抗扰控制在无人潜航器航向控制中的应用

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-03-04 DOI:10.1016/j.conengprac.2025.106288

Jiabin Yu , Yuxiang Wei , Yang Chen , Huiyan Zhang , Jiping Xu , Zhiyao Zhao

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引用次数: 0

摘要

相位滞后是无人水面舰艇航向系统中常见的问题。本文提出了滑模控制与基于u控制的自抗扰控制相结合的一般设计方法。该模型通过引入非线性项，揭示了系统控制误差的微分方程作为滑模控制的一般收敛规律。同时，对系统误差提出了收敛速度快的滑模控制律。数值模拟结果表明，UADRC具有较小的相位滞后、较快的响应速度和较小的波动，从而验证了该方法在减小相位滞后方面的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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U-control-based active disturbance-rejection control revealed by the sliding mode for USV heading control

Phase lag is common in the heading system of unmanned surface vessels (USVs). This paper presents a general design method for combining sliding-mode control with U-control-based active disturbance-rejection control (UADRC). By introducing a nonlinear term, the model can reveal the differential equation of the system control error as a general convergence law in sliding-mode control. Simultaneously, the sliding-mode control law with a fast convergence speed is presented for system errors. The numerical simulations showed that the UADRC had smaller phase lag, a faster response speed, and fewer fluctuations, thus verifying the effectiveness of the proposed method in reducing phase lag.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.