Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics
Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics
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DOI：
10.1109/9.989148
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发表时间：
2002-03-01
影响因子：
6.8
通讯作者：
Fang, Y
中科院分区：
文献类型：
--
作者：
Behal, A;Dawson, DM;Fang, Y
在本文中，设计了一个连续的、时变的跟踪控制器，该控制器全局指数地迫使欠驱动水面船舶的位置/定向跟踪误差到可以任意小的零附近[即，全局一致最终有界性（global uniformly finally boundedness，GUUB）通过将滤波后的跟踪误差变换与[6]中提出的动态振荡器设计相融合来促进结果。我们还说明了建议的跟踪控制器产生一个GUUB结果的监管问题。
In this note, a continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small [i.e., global uniformly ultimately boundedness (GUUB)]. The result is facilitated by fusing a filtered tracking error transformation with the dynamic oscillator design presented in [6]. We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem.