Adaptive Optimization Control of Unmanned Surface Vessel with Thruster Fault
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摘要: 针对带有推进器失效故障和动力学未知的无人艇(USV)自主控制问题, 提出一种基于模型预测控制的自适应容错控制方法。首先, 针对执行器部分失效故障, 建立含有故障的USV动力学模型，将动力学模型中未知非线性动态和外部扰动形成集总非线性函数, 利用神经网络逼近动力学中未知部分; 为了实现对期望轨迹的高性能精确跟踪, 构造以控制输入和状态误差为变量的指标函数, 结合模型预测控制和反步控制设计了一种自适应自主容错控制策略; 基于李雅普诺夫稳定性理论证明了闭环系统内所有信号都有界, 在此框架下构建的控制策略既可以补偿执行器故障和未知非线性动态对系统造成的影响, 也可以保证系统的跟踪误差收敛到理想精度。仿真结果验证了所提方法的有效性和合理性。Abstract: In view of both unknown dynamics and thruster fault, an adaptive model predictive-based fault-tolerant control scheme was proposed for an unmanned surface vessel(USV). Firstly, the dynamics model of the USV with faults was established, and the unknown nonlinear dynamics and external disturbance in the dynamics model were formed into a lumped nonlinear function. The unknown part in the dynamics was approximated by the neural network. In order to achieve high performance and accurate tracking of the desired trajectory, an adaptive autonomous fault-tolerant control strategy was designed by combining model predictive control and backstepping control, with the index function of control input and state error as variables. Then, based on Lyapunov stability theory, it was proven that all signals in the closed-loop system were bounded. The control strategy constructed under this framework could not only compensate for the influence of actuator faults and unknown nonlinear dynamics on the system but also ensure that the tracking error of the system converges to the ideal precision. Simulation results verify the effectiveness and rationality of the proposed method.
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表 1 Cybership II 水动力参数
Table 1. Cybership II hydrodynamic parameters
参数 取值 参数 取值 m/kg 23.800 ${Y_r}$/(N·s/m) 0.1079 ${I_{\textit{z}}}$/(kg·m2) 1.760 ${N_v}$/(N·s/m) 0.1052 ${x_g}$/m 0.046 ${N_{\left| v \right|v}}$/(N·s2/m2) 5.0437 ${X_u}$/(N·s/m) − 0.7225 ${X_{\dot u}}$/kg −2.0 ${X_{\left| u \right|u}}$/(N·s2/m2) − 1.3274 ${Y_{\dot v}}$/kg −10.0 ${X_{uuu}}$/(N·s3/m3) 1.255 ${Y_{\dot r}}$/(kg·m) −0.0 ${Y_v}$/(N·s/m) − 0.8612 ${N_{\dot v}}$/(kg·m) −0.0 ${Y_{\left| v \right|v}}$/(N·s2/m)2 − 36.2823 ${N_{\dot r}}$/(kg·m2) −0.0 
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