基于耗散理论的不完全驱动船舶直线航迹控制设计

应用科学学报 ›› 2005, Vol. 23 ›› Issue (2): 204-208.

基于耗散理论的不完全驱动船舶直线航迹控制设计

李铁山, 杨盐生

大连海事大学航海学院, 辽宁大连 116026

收稿日期:2003-12-17 修回日期:2004-03-12 出版日期:2005-03-31 发布日期:2005-03-31
作者简介:李铁山(1968-),男,辽宁锦州人,博士生,E-mail:yb8188@sohu.com;杨盐生(1957-),男,江苏盐城人,教授,博导,E-mail:ysyang@163.com
基金资助:
高等院校博士点基金资助项目(20020151005)

A Robust Design Based on the Dissipation Theory for the Linear-Course Trajectory Control of Underactuated Ships

LI Tie-shan, YANG Yan-sheng

Navigation College, Dalian Maritime University, Dalian 116026, China

Received:2003-12-17 Revised:2004-03-12 Online:2005-03-31 Published:2005-03-31

摘要/Abstract

摘要： 将严格耗散的概念引入到船舶直线航迹控制系统中,研究了不完全驱动船舶在有外界干扰作用下的直线航迹鲁棒控制问题.基于耗散不等式,提出了一种鲁棒全局状态反馈控制器,使得所得闭环系统是严格耗散且全局渐近稳定的.同时,在有外界干扰作用下,该控制算法能够使得不完全驱动船舶全局最终镇定在一条设定直线上;当没有外界干扰时,又能够使得系统的状态(即横向位移、航向角和转首角速度)全局渐近稳定.计算机仿真结果验证了本文所提出的控制器的有效性.

关键词: 鲁棒耗散控制, 直线航迹, 反演设计, 不完全驱动船舶

Abstract: The idea of strict dissipation is introduced into the straight-line tracking control system for underactuated ships.The robust dissipative control for the system with bounded exogenous disturbances is studied. Based on the dissipative inequality, a globally robust state feedback controller is developed so that the resulting closed-loop system is both strictly dissipative and asymptotically stable.Furthermore, the proposed algorithm is able to enable an underactuated ship to be globally and ultimately stabilized on a prescribed straight line under external disturbances.Numerical simulation results are presented to validate the effectiveness and transient performance of the proposed controller.

Key words: underactuated vessels, straight-line trajectory, robust dissipative control, backstepping design

中图分类号:

U661.32

李铁山, 杨盐生. 基于耗散理论的不完全驱动船舶直线航迹控制设计[J]. 应用科学学报, 2005, 23(2): 204-208.

LI Tie-shan, YANG Yan-sheng. A Robust Design Based on the Dissipation Theory for the Linear-Course Trajectory Control of Underactuated Ships[J]. Journal of Applied Sciences, 2005, 23(2): 204-208.