摘要
为了解决船舶路径跟踪中的非线性问题,在建立船舶非线性模型的基础上,采用指数趋近律,设计了船舶轨迹跟踪的滑模控制器,分别进行了动态直线跟踪和环形跟踪仿真试验,仿真结果表明,船舶动态轨迹跟踪性能良好,能精确保持航迹。
In order to solve the nonlinear problems in surface vessels trajectory tracking,the sliding-model controller of surface vessels trajectory tracking is designed based on the exponential reaching law as well as the nonlinear ship model,the simulations of dynamic straight-line tracking and circle tracking are proposed respectively.The simulation results indicate that the control performance of dynamic tracking is favorable and the method can accurately track trajectories.
出处
《船舶》
2011年第5期10-14,共5页
Ship & Boat
关键词
轨迹跟踪
滑模控制
非线性
trajectory tracking
sliding-model control
nonlinearity
