CN112506192A - Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults - Google Patents

Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults Download PDF

Info

Publication number
CN112506192A
CN112506192A CN202011336455.2A CN202011336455A CN112506192A CN 112506192 A CN112506192 A CN 112506192A CN 202011336455 A CN202011336455 A CN 202011336455A CN 112506192 A CN112506192 A CN 112506192A
Authority
CN
China
Prior art keywords
fault
propeller
full
dynamic positioning
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011336455.2A
Other languages
Chinese (zh)
Other versions
CN112506192B (en
Inventor
徐玉杰
付明玉
汲岩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN202011336455.2A priority Critical patent/CN112506192B/en
Publication of CN112506192A publication Critical patent/CN112506192A/en
Application granted granted Critical
Publication of CN112506192B publication Critical patent/CN112506192B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G05D1/0208—Control of position or course in two dimensions specially adapted to water vehicles dynamic anchoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a fault-tolerant control method for a dynamic positioning ship aiming at faults of a full-rotation propeller, which comprises the following steps: the method comprises the following steps: constructing a fault description model of the full-rotation propeller according to the basic principle of propeller thrust distribution; step two: designing a nonlinear disturbance observer based on a three-degree-of-freedom model of a dynamic positioning ship water surface; step three: and constructing a nonlinear fault-tolerant controller under a typical fault, and adding disturbance compensation. The invention provides a fault-tolerant control method based on a disturbance observer for a dynamic positioning ship with a full-rotation propeller fault, designs a model capable of describing three propeller faults, is applied to a sliding mode control law to improve the fault-tolerant capability and stability of a system, and enhances the anti-interference capability and safety performance of the system by combining the disturbance observer.

Description

Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults
Technical Field
The invention relates to a fault-tolerant control method for a dynamic positioning ship, in particular to a fault-tolerant control method for a dynamic positioning ship aiming at a fault of a full-rotation propeller.
Background
Due to the complexity and changeability of marine environments, the dynamic positioning ship is inevitably influenced by environmental interference such as time-varying wind, wave and flow during sea surface operation, a closed loop feedback control mode of the dynamic positioning system has certain hysteresis, and if the time-varying interference is not subjected to feedforward compensation, the stability of the ship is influenced, and safety threat can be brought under severe conditions. In addition, due to the fact that the ship works on the sea for a long time, the problems that a hydraulic system is unstable, a driving mechanism is blocked, a shaft generator is powered off and the like can happen to a propeller, and it is necessary to consider how to enable the ship to safely complete the work under the fault condition. Therefore, a fault-tolerant control method for a dynamic positioning ship for full-rotation propeller faults is provided based on a disturbance observer.
At present, the positioning, orientation and tracking control of the dynamic positioning ship at home and abroad have very mature research results and application, but the fault-tolerant control method of the dynamic positioning ship is still in the theoretical research and experimental stage. Most research results are based on the fault detection and diagnosis (FDI) module to judge the fault type and then carry out fault-tolerant control, and the method is called as active fault-tolerant control. The method has the advantages of performing targeted fault tolerance and improving the response speed of the system. However, due to the introduction of the FDI module, the closed-loop system is more complex, so that the requirements on the accuracy of the FDI and the robustness of the system are higher, and if the FDI is judged to be wrong, the control becomes more difficult to control. Therefore, passive fault-tolerant control that does not rely on FDI modules has come into the field of view of people in recent years. The passive fault-tolerant control is mainly characterized in that a closed-loop system has strong robust performance, so that the system is insensitive to faults, and the fault-tolerant capability of the whole system is improved.
Disclosure of Invention
The invention provides a fault-tolerant control method for a dynamic positioning ship aiming at faults of a full-rotation propeller, and aims to enhance the anti-interference capability of the dynamic positioning ship to time-varying environmental interference during operation, have the fault-tolerant capability aiming at the propeller faults which can occur at any time and improve the robustness of a system.
The purpose of the invention is realized as follows:
a fault-tolerant control method for a dynamic positioning ship aiming at the fault of a full-rotation propeller is characterized by comprising the following steps:
the method comprises the following steps: constructing a fault description model of the full-rotation propeller according to the basic principle of propeller thrust distribution;
step two: designing a nonlinear disturbance observer based on a three-degree-of-freedom model of a dynamic positioning ship water surface;
step three: and constructing a nonlinear fault-tolerant controller under a typical fault, and adding disturbance compensation.
The invention also includes such features:
the first step is specifically as follows:
the faults of the full-rotation propeller comprise failure, jamming and interruption, and three coefficient matrixes delta, chi and theta are introducedsThe combination describes three propeller failures:
τ(t)＝G(δ(t)θ(t)+χ(t)θs(t))
wherein G ∈ R3×14To configure the matrix, δ (t) diag { δi}∈R14×14,δi∈[0,1]Representing failure efficiency of the fault actuator, theta (t) being equal to R14For propulsion signals of 7 propellers in transverse and longitudinal directions, respectively, χ (t) ═ diag { χi}∈R14 ×14， χ i0 or 1 represents a fault type, θs(t)∈R14Represents unknown bounded time-varying thrust generated when the jamming fault occurs, and the upper bound is
Figure BDA0002797291720000021
The second step is specifically as follows: using time-varying disturbance feed-forward compensation based on a disturbance observer, using auxiliary variables
Figure BDA0002797291720000022
Designing a non-linear disturbance observer for implementation:
Figure BDA0002797291720000023
Figure BDA0002797291720000024
wherein the content of the first and second substances,
Figure BDA0002797291720000025
as an estimate of time-varying interference, K0For the positive definite parameters of the design, M is an inertia matrix of the DP ship motion, and v is the three-degree-of-freedom speed of the DP ship motion.
The third step is specifically as follows:
outer ring position error: s1＝η-ηdThe following Lyapunov function is constructed:
Figure BDA0002797291720000026
virtual control law designed by backstepping method
Figure BDA0002797291720000027
Inner ring slip form surface: s2＝v-vdAdopting an exponential approximation law to make
Figure BDA0002797291720000028
The sliding mode control law is designed as
Figure BDA0002797291720000029
Wherein u is the resultant force of theta (t) in the longitudinal direction and the transverse direction, and satisfies the condition that u is G theta (t);
and (3) combining a propeller fault model and a disturbance observer to obtain a final controller:
Figure BDA00027972917200000210
compared with the prior art, the invention has the beneficial effects that:
the invention provides a fault-tolerant control method based on a disturbance observer for a dynamic positioning ship with a full-rotation propeller fault, designs a model capable of describing three propeller faults, is applied to a sliding mode control law to improve the fault-tolerant capability and stability of a system, and enhances the anti-interference capability and safety performance of the system by combining the disturbance observer.
Drawings
FIG. 1 is a schematic diagram of the operation of the dynamic positioning system;
FIG. 2 is a layout view of a thruster of the dynamic positioning vessel;
FIG. 3 shows a kinematic trajectory of a dynamically positioned vessel;
FIG. 4 shows errors in motion in various directions;
FIG. 5 speed of movement in each direction;
FIG. 6 the disturbance observer is compared to the actual disturbance;
figure 72 # thruster thrust (not faulted);
figure 82 # thruster azimuth (not faulted);
figure 91 # thruster thrust (failure);
figure 101 # thruster azimuth failure);
figure 114 # thruster thrust (stuck);
figure 124 # thruster azimuth (stuck);
figure 136 # thruster thrust (break);
figure 146 # thruster azimuth (break).
Detailed Description
The invention takes a pipe-laying crane ship model of 'marine oil 201' as a research object, and the invention is further described in detail by combining the accompanying drawings as follows:
1. and constructing a fault description model of the full-rotation propeller according to the thrust distribution basic principle of the propeller.
Three fault conditions of propeller failure, jamming and interruption which are possibly encountered in the working process of a ship are considered, thrust distribution and synthesis are carried out by combining a sequence quadratic programming method, and a reasonable three-degree-of-freedom fault description model is designed and can be used for controller design and system stability analysis.
2. And designing a nonlinear disturbance observer based on the three-degree-of-freedom model of the water surface of the dynamic positioning ship.
The deviation of the actual disturbance from the observer is used to modify the output of the disturbance observer. And introducing an auxiliary variable, designing a non-linear disturbance observer which can be realized, and performing feedforward compensation on an observed value to a controller. The accuracy of the observer is ensured, and the real-time performance is considered.
3. And constructing a nonlinear fault-tolerant controller under a typical fault, and adding disturbance compensation.
The method comprises the steps of firstly taking an equivalent position error as an outer ring sliding mode surface, designing a virtual speed control law by using a backstepping method, then taking a speed error as an inner ring sliding mode surface, adopting an exponential tightening rate to improve the response speed of a system, reducing buffeting of the system by using a hyperbolic tangent function, designing a controller by using a Lyapunov stability theorem, and finally designing a nonlinear fault-tolerant controller by combining a propeller fault model and disturbance feedforward compensation, so that the purposes of still completing path tracking and having better stability under time-varying interference and propeller faults are achieved.
Step one, establishing a three-degree-of-freedom mathematical model of a dynamic positioning ship on water
Firstly, establishing a northeast coordinate system to describe the position and heading change of a ship on the horizontal plane, and then establishing a ship body coordinate system to describe the motion speed and attitude change of the ship. The ship is then further analyzed for its resistance to water dynamics, environmental factors such as wind, waves, currents, etc., and the forces of the ship's propulsion system. Respectively researching the stress conditions of each force and moment, then carrying out linear superposition to calculate resultant force, and establishing a horizontal kinematic model and a dynamic model of the dynamic positioning ship:
Figure BDA0002797291720000041
Figure BDA0002797291720000042
wherein v ═ u, v, r]TThe motion speed of the ship under the ship body coordinate system,
Figure BDA0002797291720000043
the ship motion position and attitude angle in a northeast coordinate system, R (psi) is a rotation matrix of the system, D is a time-varying environmental disturbance force, M is an inertial system matrix (including additional mass), C (v) is a Coriolis centripetal force matrix (including additional mass), and D is a linear damping matrix.
Step two, describing fault model of full-rotation propeller
Three types of faults, namely failure, fault and jamming, can be generated in the rotating process of the full-rotation propeller, and a method capable of describing the three types of faults is given as follows:
τ(t)＝G(δ(t)θ(t)+χ(t)θs(t))
wherein G ∈ R3×14To configure the matrix, δ (t) diag { δi}∈R14×14,δi∈[0,1]Representing failure efficiency of the fault actuator, theta (t) being equal to R14For propulsion signals of 7 propellers in transverse and longitudinal directions, respectively, χ (t) ═ diag { χi}∈R14 ×14， χ i0 or 1 represents a fault type, θs(t)∈R14Represents unknown bounded time-varying thrust generated when the jamming fault occurs, and the upper bound is
Figure BDA0002797291720000044
The propeller failure mode can be expressed as:
Figure BDA0002797291720000051
suppose in the simulation experiment that the No. 1 propeller is invalid, the No. 4 propeller is stuck, the No. 6 propeller is interrupted, and other propellers work normally.
Step three, designing a disturbance observer
Time-varying disturbance feed-forward compensation based on a disturbance observer is utilized. Using auxiliary variables
Figure BDA0002797291720000052
Designing a non-linear disturbance observer which can be realized:
Figure BDA0002797291720000053
Figure BDA0002797291720000054
wherein the content of the first and second substances,
Figure BDA0002797291720000055
as an estimate of time-varying interference, K0For the positive definite parameters of the design, M is an inertia matrix of the DP ship motion, and v is the three-degree-of-freedom speed of the DP ship motion.
Step four, designing a double-ring sliding mode controller based on a backstepping method
Outer ring position error: s1＝η-ηdThe following Lyapunov function is constructed:
Figure BDA0002797291720000056
virtual control law designed by backstepping method
Figure BDA0002797291720000057
Inner ring slip form surface: s2＝v-vdAdopting an exponential approximation law to make
Figure BDA0002797291720000058
The sliding mode control law is designed as
Figure BDA0002797291720000059
Wherein u is the resultant force of θ (t) in the longitudinal and transverse directions, and satisfies u ═ G θ (t).
And (3) combining a propeller fault model and a disturbance observer to obtain a final design controller:
Figure BDA00027972917200000510
a fault-tolerant control method for a dynamic positioning ship aiming at full-rotation propeller faults mainly comprises three fault model descriptions based on a propeller working principle, time-varying interference feedforward compensation based on a disturbance observer and a double-loop sliding mode fault-tolerant controller based on a backstepping method. Three coefficient matrixes delta, chi and theta are introducedsThe combination describes three propeller failures:
τ(t)＝G(δ(t)θ(t)+χ(t)θs(t))
wherein G ∈ R3×14To configure the matrix, δ (t) diag { δi}∈R14×14,δi∈[0,1]Representing failure efficiency of the fault actuator, theta (t) being equal to R14For propulsion signals of 7 propellers in transverse and longitudinal directions, respectively, χ (t) ═ diag { χi}∈R14 ×14， χ i0 or 1 represents a fault type, θs(t)∈R14Represents unknown bounded time-varying thrust generated when the jamming fault occurs, and the upper bound is
Figure BDA0002797291720000061
A three-degree-of-freedom double-ring sliding mode control law is designed by utilizing a backstepping method, the thrust and the azimuth angle of each full-rotation propeller are solved reversely through the reasoning distribution principle, and the fault-tolerant control law is obtained by combining the actual faults of the propellers.
In conclusion: the invention discloses a fault-tolerant control method for a dynamic positioning ship aiming at faults of a full-rotation propeller. A general fault model describing three faults including failure, jamming and interruption of a full-rotation propeller is mainly provided and is combined into a controller through thrust distribution. Firstly, because the failure and interruption of the propeller are reflected by the reduction of the working efficiency, a first coefficient matrix delta is designed to judge whether the failure or interruption is the failure, secondly, the jamming failure is reflected in that the azimuth angle of the propeller is fixed at a certain angle, so a second coefficient matrix chi is designed to judge whether the jamming failure is the jamming failure, and a third coefficient matrix theta is utilized to judge whether the jamming failure is the jamming failuresAnd the unknown time-varying thrust generated by the stuck fault is expressed, and a fault model based on the three parameter descriptions is further provided. And then a disturbance observer is designed to make the observation error converge in a limited time, so that the anti-interference capability of the system is enhanced. And then, a double-ring sliding mode control law is provided by utilizing a backstepping method, and a disturbance observation and fault tolerance part is added, so that the dynamic positioning ship can move according to a set track, and each state of a closed-loop system converges to 0 in limited time. The control law of the invention has the advantages of high response speed, strong anti-interference capability and high safety and reliability.

Claims (4)

1. A fault-tolerant control method for a dynamic positioning ship aiming at the fault of a full-rotation propeller is characterized by comprising the following steps:
the method comprises the following steps: constructing a fault description model of the full-rotation propeller according to the basic principle of propeller thrust distribution;
step two: designing a nonlinear disturbance observer based on a three-degree-of-freedom model of a dynamic positioning ship water surface;
step three: and constructing a nonlinear fault-tolerant controller under a typical fault, and adding disturbance compensation.
2. The fault-tolerant control method for the dynamically positioned vessel aiming at the full-rotation propeller faults as claimed in claim 1, wherein the first step is specifically as follows:
the faults of the full-rotation propeller comprise failure, jamming and interruption, and three coefficient matrixes delta, chi and theta are introducedsThe combination describes three propeller failures:
τ(t)＝G(δ(t)θ(t)+χ(t)θs(t))
wherein G ∈ R3×14To configure the matrix, δ (t) diag { δi}∈R14×14,δi∈[0,1]Representing failure efficiency of the fault actuator, theta (t) being equal to R14For propulsion signals of 7 propellers in transverse and longitudinal directions, respectively, χ (t) ═ diag { χi}∈R14×14，χi0 or 1 represents a fault type, θs(t)∈R14Represents unknown bounded time-varying thrust generated when the jamming fault occurs, and the upper bound is
Figure FDA0002797291710000011
3. The fault-tolerant control method for the dynamic positioning vessel aiming at the full-rotation propeller fault as claimed in claim 1, wherein the second step is specifically as follows:
using time-varying disturbance feed-forward compensation based on a disturbance observer, using auxiliary variables
Figure FDA0002797291710000012
Designed to implement non-linear perturbationsThe dynamic observer is used for:
Figure FDA0002797291710000013
Figure FDA0002797291710000014
wherein the content of the first and second substances,
Figure FDA0002797291710000015
as an estimate of time-varying interference, K0For the positive definite parameters of the design, M is an inertia matrix of the DP ship motion, and v is the three-degree-of-freedom speed of the DP ship motion.
4. The fault-tolerant control method for the dynamic positioning vessel aiming at the full-rotation propeller fault as claimed in claim 1, wherein the third step is specifically as follows:
outer ring position error: s1＝η-ηdThe following Lyapunov function is constructed:
Figure FDA0002797291710000016
virtual control law designed by backstepping method
Figure FDA0002797291710000017
Inner ring slip form surface: s2＝v-vdAdopting an exponential approximation law to make
Figure FDA0002797291710000018
The sliding mode control law is designed as
Figure FDA0002797291710000019
Wherein u is the resultant force of theta (t) in the longitudinal direction and the transverse direction, and satisfies the condition that u is G theta (t);
and (3) combining a propeller fault model and a disturbance observer to obtain a final controller:
Figure FDA0002797291710000021
CN202011336455.2A 2020-11-25 2020-11-25 Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults Active CN112506192B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011336455.2A CN112506192B (en) 2020-11-25 2020-11-25 Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011336455.2A CN112506192B (en) 2020-11-25 2020-11-25 Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults

Publications (2)

Publication Number Publication Date
CN112506192A true CN112506192A (en) 2021-03-16
CN112506192B CN112506192B (en) 2022-07-15

Family

ID=74958601

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011336455.2A Active CN112506192B (en) 2020-11-25 2020-11-25 Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults

Country Status (1)

Country Link
CN (1) CN112506192B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113126503A (en) * 2021-04-28 2021-07-16 上海海事大学 Intelligent ship thrust distribution method considering propeller faults
CN113156965A (en) * 2021-04-30 2021-07-23 哈尔滨工程大学 Hovercraft high-speed rotation control method based on longitudinal speed planning
CN113885499A (en) * 2021-10-08 2022-01-04 四川大学 Fault-tolerant control method for robot track for detection in cavity

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104635734A (en) * 2014-12-09 2015-05-20 华北电力大学 Method for tracking trajectories of tracked robots
CN105204495A (en) * 2015-09-24 2015-12-30 哈尔滨工程大学 Hovercraft actuator fault processing method based on virtual actuator
CN106842910A (en) * 2016-11-17 2017-06-13 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） A kind of Ship Steering Autopilot sliding-mode control based on interference observer
CN108153309A (en) * 2017-12-22 2018-06-12 安徽农业大学 For the control method and caterpillar robot of caterpillar robot
CN108398884A (en) * 2018-03-09 2018-08-14 南京航空航天大学 A kind of adaptive fusion method of the Uncertain time-delayed systems based on sliding formwork
CN108845497A (en) * 2018-05-28 2018-11-20 浙江工业大学 Quadrotor finite-time control method based on tanh enhanced index Reaching Law and fast terminal sliding-mode surface
CN109298632A (en) * 2018-09-01 2019-02-01 哈尔滨工程大学 Autonomous type underwater robot propeller fault tolerant control method based on sliding Mode Algorithm Yu the secondary adjustment of thrust
CN109884901A (en) * 2019-04-04 2019-06-14 中国人民解放军海军工程大学 A kind of sliding formwork filter design method of ship craft integrated control system
CN109946973A (en) * 2019-04-12 2019-06-28 东北大学 A kind of combination sliding-mode control of combination fast terminal sliding formwork and linear sliding mode
CN110018687A (en) * 2019-04-09 2019-07-16 大连海事大学 Unmanned water surface ship optimal track following control method based on intensified learning method
CN110333661A (en) * 2019-08-06 2019-10-15 大连海事大学 A kind of UMV adaptive sliding mode fault tolerant control method considering quantization and states with time-delay
CN110361975A (en) * 2019-08-06 2019-10-22 大连海事大学 A kind of adaptive fusion method of the UMV State time-delay system based on sliding mode technology
CN110879535A (en) * 2019-12-26 2020-03-13 大连海事大学 Sliding mode fault-tolerant control method of T-S fuzzy UMV
US10713493B1 (en) * 2020-02-06 2020-07-14 Shenzhen Malong Technologies Co., Ltd. 4D convolutional neural networks for video recognition
US20200270103A1 (en) * 2018-01-22 2020-08-27 Wuyi University First-order dynamic sliding mode variable structure-based bridge crane anti-swing method
CN111953217A (en) * 2019-12-13 2020-11-17 中国石油大学(华东) Sliding mode active disturbance rejection control method based on three-phase Vienna rectifier

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104635734A (en) * 2014-12-09 2015-05-20 华北电力大学 Method for tracking trajectories of tracked robots
CN105204495A (en) * 2015-09-24 2015-12-30 哈尔滨工程大学 Hovercraft actuator fault processing method based on virtual actuator
CN106842910A (en) * 2016-11-17 2017-06-13 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） A kind of Ship Steering Autopilot sliding-mode control based on interference observer
CN108153309A (en) * 2017-12-22 2018-06-12 安徽农业大学 For the control method and caterpillar robot of caterpillar robot
US20200270103A1 (en) * 2018-01-22 2020-08-27 Wuyi University First-order dynamic sliding mode variable structure-based bridge crane anti-swing method
CN108398884A (en) * 2018-03-09 2018-08-14 南京航空航天大学 A kind of adaptive fusion method of the Uncertain time-delayed systems based on sliding formwork
CN108845497A (en) * 2018-05-28 2018-11-20 浙江工业大学 Quadrotor finite-time control method based on tanh enhanced index Reaching Law and fast terminal sliding-mode surface
CN109298632A (en) * 2018-09-01 2019-02-01 哈尔滨工程大学 Autonomous type underwater robot propeller fault tolerant control method based on sliding Mode Algorithm Yu the secondary adjustment of thrust
CN109884901A (en) * 2019-04-04 2019-06-14 中国人民解放军海军工程大学 A kind of sliding formwork filter design method of ship craft integrated control system
CN110018687A (en) * 2019-04-09 2019-07-16 大连海事大学 Unmanned water surface ship optimal track following control method based on intensified learning method
CN109946973A (en) * 2019-04-12 2019-06-28 东北大学 A kind of combination sliding-mode control of combination fast terminal sliding formwork and linear sliding mode
CN110361975A (en) * 2019-08-06 2019-10-22 大连海事大学 A kind of adaptive fusion method of the UMV State time-delay system based on sliding mode technology
CN110333661A (en) * 2019-08-06 2019-10-15 大连海事大学 A kind of UMV adaptive sliding mode fault tolerant control method considering quantization and states with time-delay
CN111953217A (en) * 2019-12-13 2020-11-17 中国石油大学(华东) Sliding mode active disturbance rejection control method based on three-phase Vienna rectifier
CN110879535A (en) * 2019-12-26 2020-03-13 大连海事大学 Sliding mode fault-tolerant control method of T-S fuzzy UMV
US10713493B1 (en) * 2020-02-06 2020-07-14 Shenzhen Malong Technologies Co., Ltd. 4D convolutional neural networks for video recognition

Non-Patent Citations (8)

* Cited by examiner, † Cited by third party
Title
JIANXU LIU等: "Robust Synchronization of Multiple Marine Vessels With Time-Variant Disturbance and Communication Delays", 《IEEE ACCESS》 *
LIU HAIBO等: "Attitude control for QTR using exponential nonsingular terminal sliding mode control", 《JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS》 *
RUIKUN XU等: "Robust Finite-Time Attitude Tracking Control of a CMG-Based AUV With Unknown Disturbances and Input Saturation", 《IEEE ACCESS》 *
付明玉,等: "基于鲁棒滑模虚拟传感器的船舶动力定位容错控", 《中国造船》 *
付明玉等: "鲁棒自适应滑模虚拟执行器设计", 《控制理论与应用》 *
宁继鹏: "船舶动力定位容错控制方法研究", 《中国优秀博硕士学位论文全文数据库(博士) 工程科技Ⅱ辑》 *
袁芳等: "无人水下机器人在线故障辨识及滑模容错控制", 《系统仿真学报》 *
郝立颖,等: "带有推进器故障的船舶动力定位系统的鲁棒滑模容错控制", 《控制与决策》 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113126503A (en) * 2021-04-28 2021-07-16 上海海事大学 Intelligent ship thrust distribution method considering propeller faults
CN113156965A (en) * 2021-04-30 2021-07-23 哈尔滨工程大学 Hovercraft high-speed rotation control method based on longitudinal speed planning
CN113885499A (en) * 2021-10-08 2022-01-04 四川大学 Fault-tolerant control method for robot track for detection in cavity

Also Published As

Publication number Publication date
CN112506192B (en) 2022-07-15

Similar Documents

Publication Publication Date Title
CN112506192B (en) Fault-tolerant control method for dynamic positioning ship aiming at full-rotation propeller faults
Johansen et al. Control allocation—A survey
CN103213129A (en) Position/force hybrid control method for space manipulator
CN111650832B (en) Method for tracking and controlling mechanical foot posture of underwater multi-foot walking robot
CN111007854B (en) Under-actuated ship trajectory tracking control system
Zhu et al. A bio-inspired neurodynamics-based backstepping path-following control of an AUV with ocean current
Torben et al. Control allocation for double-ended ferries with full-scale experimental results
Lv et al. Disturbance rejection control for underwater free-floating manipulation
Yuan et al. An efficient control allocation algorithm for over-actuated AUVs trajectory tracking with fault-tolerant control
Di Vito et al. Vehicle adaptive control for underwater intervention including thrusters dynamics
CN116088309B (en) Compound learning fault-tolerant control method for surface ship based on fault identification
Astrov et al. Target tracking by neural predictive control of autonomous surface vessel for environment monitoring and cargo transportation applications
CN116048090A (en) Sail navigation aid ship path tracking control method with energy consumption optimization effect
Zhao et al. UUV trajectory tracking control with fault tolerant based on MPC
Morishita et al. Laboratory facilities for dynamic positioning system
Jeong et al. Modeling and control allocation for ship berthing system design
DONNARUMMA et al. Rapid Prototyping for Enhanced Dynamic
Sun et al. UVMS Controller Design Based on Double Close-Loop Integral Sliding Mode
Rosario et al. Experimental variable structure trajectory tracking control of a surface vessel with a motion capture system
Bao et al. Hardware-in-the-Loop simulation applied to AUV control
Liu et al. Research on a vectored thruster based on 3RRUR for micro AUVs
CN116719229B (en) Potential function-based collision prevention fault tolerance control method for dynamic positioning ship
Popovych et al. Automatic Optimal Control of a Vessel with Redundant Structure of Executive Devices
Wu et al. Dynamic Analysis and Motion Control of an Underactuated Unmanned Surface Vehicle (WL-II)
Xu et al. Practical Tracking Control of a Class of Uncertain Surface Vessels Under Weak Assumptions on Uncertainties and Reference Trajectories

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant