Global tracking for underactuated ships with bounded feedback controllers
Global tracking for underactuated ships with bounded feedback controllers
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DOI：
10.1080/00207179.2014.898188
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发表时间：
2013-03
影响因子：
2.1
通讯作者：
M. Harmouche;S. Laghrouche;Y. Chitour
中科院分区：
文献类型：
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作者：
M. Harmouche;S. Laghrouche;Y. Chitour
针对欠驱动水面船舶，提出了一种全局状态反馈跟踪控制器。该控制器是基于饱和控制输入，并在参考轨迹的假设下，闭环系统是全局渐近稳定的。它是使用海洋工程中使用的3自由度基准船模型设计的。我们的控制器的主要特点是控制输入的有界性，这是一个重要的考虑在真实的生活。在没有速度测量的情况下，控制器的工作和保持稳定的观察员，并可以用作输出反馈控制器。仿真结果验证了该方法的有效性。
In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable. It has been designed using a 3 degrees of freedom benchmark vessel model used in marine engineering. The main feature of our controller is the boundedness of the control inputs, which is an essential consideration in real life. In absence of velocity measurements, the controller works and remains stable with observers and can be used as an output feedback controller. Simulation results demonstrate the effectiveness of this method.