摘要
针对欠驱动水面船舶的航迹跟踪控制面临着本质非线性、强耦合和无法线性化处理的控制等问题,首先通过对欠驱动水面船舶航迹控制系统的非线性模型.进行全局微分同胚和反馈变换,构造了由2个级联的子系统构成的航迹跟踪误差系统,然后基于反步法的设计原理,运用Lyapunov直接方法对变换后的误差系统设计了航迹跟踪控制律,该控制律可以实现一定条件下欠驱动水面船舶的曲线航迹跟踪.仿真结果验证了该控制律的有效性.
Tracking control of underactuated surface vessels is a challenging problem, proving to be inherently non linear with strong coupling and not amenable to linear control theory. For a nonlinear model of a tracking control system, a tracking control error system was constructed after global diffeomorphism and feedback transformations; this system consists of two cascaded subsystems. Then explicit formulas of the feedback tracking control law were proposed by the application of Lyapunov~ direct method and backstepping strategy. The control law can implement curve tracking of underactuated surface vessels on a certain condition. Simulation results validate the proposed tracking methodology.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2011年第10期1317-1322,共6页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(50909026)
黑龙江自然科学基金资助项目(F200916)
关键词
欠驱动水面船舶
跟踪控制
反步法
微分同胚
underactuated surface vessel
tracking control
backstepping
diffeomorphism
