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应用科学学报 ›› 2009, Vol. 27 ›› Issue (5): 538-544.

• 控制与系统 • 上一篇    下一篇

欠驱动舰船系统的跟踪控制

曹科才   

  1. 南京邮电大学自动化学院，南京210003
  • 收稿日期:2009-03-26 修回日期:2009-06-22 出版日期:2009-09-25 发布日期:2009-09-25
  • 通信作者: 曹科才，博士，研究方向：非线性系统分析与综合、多机器人系统的协调控制，E-mail：caokc@njupt.edu.cn
  • 基金资助:
    国家自然科学基金(No.60805039)；南京邮电大学引进人才计划基金(No.NY207028)资助项目

Tracking Control of Underactuated Ship Systems

  1. Department of Automatic Control, Nanjing University of Posts and Telecommunications, Nanjing 210003, China
  • Received:2009-03-26 Revised:2009-06-22 Online:2009-09-25 Published:2009-09-25

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1418

被引次数

3

摘要：

针对欠驱动系统的跟踪控制问题，在被跟踪目标指数收敛情形下，利用基于膨胀的时变变换和非自治系统的级联控制方法，将非线性误差系统的镇定问题转化为两个简单线性时变级联系统的镇定问题，并设计了全局–K指数收敛的跟踪控制律. 所给跟踪控制律亦适用于参考轨迹为直线或圆情况下的一般跟踪控制问题. 数值仿真验证了控制方法的有效性.

关键词: 欠驱动舰船系统, 轨迹跟踪, 级联系统, 指数稳定

Abstract:

This paper studies the tracking control problem of underactuated ship. With a time-varying coordinate transformation based on dilation and the method for dealing with non-autonomous cascaded systems, the tracking control problem of a complex system is simplified by splitting it into two stabilization problems of simple subsystems. When the reference target converges to zero exponentially, globally K-exponential tracking controllers are constructed which is also effective when the reference trajectory is a line or a circle. Effectiveness of the presented controllers is validated in numerical simulation.

Key words: underactuated ship systems, trajectory tracking, cascaded systems, exponential stability

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