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状态测量不确定和动力学未知的无人艇固定时间容错控制
王宁; 高颖; 王仁慧
Source Publication自动化学报
ISSN0254-4156
2023
Volume49Issue:5Pages:1050-1061
Abstract针对含有推进器故障和状态测量不确定的无人艇(Unmanned surface vehicle, USV)系统,提出一种基于双扰动观测器的固定时间容错跟踪控制(Double disturbance observer-based fixed-time fault-tolerance control, DDO-FxFC)方法.设计两个固定时间扰动观测器,分别估计状态测量不确定性产生的非匹配干扰和包含推进器故障的集总非线性,同时自适应实时补偿未知观测误差;采用测量位姿跟踪误差及其动态,设计快速非奇异终端滑模面,构建DDO-FxFC框架;理论分析证明DDO-FxFC方法能够确保跟踪误差固定时间收敛,其中收敛时间的上界独立于系统初始状态;针对原型USV的仿真结果和综合对比验证所提出DDO-FxFC技术的有效性和优越性.
Keyword无人艇 测量不确定性 未知动力学 固定时间控制 容错控制
DOI10.16383/j.aas.c220482
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56154
Collection学术期刊_自动化学报
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GB/T 7714
王宁,高颖,王仁慧. 状态测量不确定和动力学未知的无人艇固定时间容错控制[J]. 自动化学报,2023,49(5):1050-1061.
APA 王宁,高颖,&王仁慧.(2023).状态测量不确定和动力学未知的无人艇固定时间容错控制.自动化学报,49(5),1050-1061.
MLA 王宁,et al."状态测量不确定和动力学未知的无人艇固定时间容错控制".自动化学报 49.5(2023):1050-1061.
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