Robust path-following of underactuated ships : Theory and experiments on a model ship
Robust path-following of underactuated ships : Theory and experiments on a model ship
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DOI：
10.1016/j.oceaneng.2005.07.011
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发表时间：
2006-07
影响因子：
5
通讯作者：
K. D. Do;J. Pan
中科院分区：
文献类型：
--
作者：
K. D. Do;J. Pan
提出了一种新的全局控制器的设计方法，使欠驱动船舶在波浪、风和海流的干扰下沿参考路径运动。控制器的设计使得船舶以可调的前进速度在路径上运动，其总速度与路径相切，所考虑的船舶在横荡轴上不被驱动，并且质量和阻尼矩阵不被假设为对角矩阵。还包括非线性阻尼项，以涵盖低速和高速应用。通过选择合适的船体固定坐标系原点、设计合适的横摇速度滤波器、几种非线性坐标变换、反推技术和利用船舶动力结构，得到了新的结果。船模实验结果表明了该方法的有效性。
A method is proposed to design a new global controller that forces an underactuated ship to follow a reference path under disturbances induced by wave, wind and ocean-current. The controller is designed such that the ship moves on the path with an adjustable forward speed and its total velocity is tangential to the path. The ship under consideration is not actuated in the sway axis, and the mass and damping matrices are not assumed to be diagonal. Nonlinear damping terms are also included to cover both low- and high-speed applications. The new result is facilitated by choosing an appropriate origin of the body-fixed frame, designing a suitable filter of sway velocity, several nonlinear coordinate changes, the backstepping technique, and utilizing the ship dynamic structure. Experimental results on a model ship illustrate the effectiveness of the proposed method.