高性能欠驱动水面机器人的有限时间跟踪控制

doi:10.3969/j.issn.0255-8297.2016.02.010

应用科学学报 ›› 2016, Vol. 34 ›› Issue (2): 203-214.doi: 10.3969/j.issn.0255-8297.2016.02.010

高性能欠驱动水面机器人的有限时间跟踪控制

刘海涛, 田雪虹, 王贵

广东海洋大学工程学院, 广东湛江 524088

收稿日期:2015-07-25 修回日期:2015-11-28 出版日期:2016-03-30 发布日期:2016-03-30
作者简介:刘海涛,博士,副教授,研究方向:非线性控制、机器人技术及工程应用,E-mail:gdliuht@126.com
基金资助:
国家自然科学基金(No.51375100);广东省自然科学基金(No.2015A030310307);广东省高等学校特色创新类项目基金(No.2015KTSCX059);广东海洋大学自然科学类项目基金(No.C15401)资助

Finite-Time Tracking Control of High-Performance Underactuated USV

LIU Hai-tao, TIAN Xue-hong, WANG Gui

College of Engineering, Guangdong Ocean University, Zhanjiang 524088, Guangdong Province, China

Received:2015-07-25 Revised:2015-11-28 Online:2016-03-30 Published:2016-03-30

摘要/Abstract

摘要： 针对一类非完全对称的高性能欠驱动水面机器人系统,提出一种有限时间收敛的跟踪控制器.利用全局微分同胚变换得到非线性级联系统的形式,将原系统的跟踪控制问题转化为非线性级联系统的控制问题.基于有限时间Lyapunov理论,设计一种有限时间控制器,获得了较高的响应特性和跟踪精度.通过理论分析和仿真实验说明了该方法的有效性和可行性.

关键词: 水面机器人, 有限时间控制, 欠驱动控制, 级联系统

Abstract: Finite-time tracking control is proposed for incomplete symmetrical highperformance underactuated unmanned surface vehicles (USV). Global diffeomorphism transformation is used to obtain the form of nonlinear cascaded systems. Thus tracking control of the original USV system is transformed to stabilization of the cascade system. Based on the finite-time Lyapunov theorem, a finite-time convergent controller is designed to obtain fast response and high tracking-precision. The theoretical analysis and simulations show feasibility and effectiveness of the proposed method.

Key words: unmanned surface vehicle (USV), finite-time control, underactuated control, cascade systems

中图分类号:

TP23

刘海涛, 田雪虹, 王贵. 高性能欠驱动水面机器人的有限时间跟踪控制[J]. 应用科学学报, 2016, 34(2): 203-214.

LIU Hai-tao, TIAN Xue-hong, WANG Gui. Finite-Time Tracking Control of High-Performance Underactuated USV[J]. Journal of Applied Sciences, 2016, 34(2): 203-214.

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高性能欠驱动水面机器人的有限时间跟踪控制

Finite-Time Tracking Control of High-Performance Underactuated USV

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