控制理论与应用2025，Vol.42Issue(10)：1936-1945,10.DOI:10.7641/CTA.2025.40501
输入饱和下的船舶风帆三自由度控制系统固定时间预设性能滑模控制
A fixed-time prescribed performance sliding mode control of ship sail three-degree-of-freedom control system under input saturation
摘要
Abstract
To address the challenges posed by external wind disturbances,input saturation,angle constraints,and the need for smooth and rapid tracking,this paper proposes a fixed-time prescribed performance sliding mode control strat-egy(FTSMC-PP-IS)for the three-degree-of-freedom control system of ship sail.Firstly,a fixed-time convergent sliding mode surface is developed using the bi-limit homogeneous property(BHP)to ensure rapid fixed-time convergence while avoiding singularities in the control law.Next,a prescribed performance function(PPF)is designed to meet the system's three-degree-of-freedom angle constraints and to optimize tracking overshoot and steady error.Additionally,a fixed-time auxiliary system is introduced to compensate for actuator input saturation deviations.The global fixed-time convergence of the system is assured by constructing the sliding mode reaching law and the equivalent control law.Notably,this approach achieves excellent dynamic and steady-state performance while ensuring rapid fixed-time tracking under input saturation conditions.Finally,the fixed-time convergence of the proposed method is validated through Lyapunov stability theory.Numerical simulations and prototype experiments confirm the feasibility and effectiveness of the proposed method.关键词
船舶风帆三自由度控制系统/固定时间滑模控制/运动控制/输入饱和/预设性能/角度约束/双极限齐次定理Key words
ship sail three-degree-of-freedom control system/fixed-time sliding mode control/motion control/input saturation/prescribed performance/angle constraint/bi-limit homogeneous property引用本文复制引用
宋健,张兰勇,刘胜..输入饱和下的船舶风帆三自由度控制系统固定时间预设性能滑模控制[J].控制理论与应用,2025,42(10):1936-1945,10.基金项目
国家自然科学基金项目(62203133)资助.Supported by the National Natural Science Foundation of China(62203133). （62203133）
