MOTION PLANNING AND ITS FEEDBACK STABILIZATION FOR UNDERACTUATED SHIPS: VIRTUAL CONSTRAINTS APPROACH
MOTION PLANNING AND ITS FEEDBACK STABILIZATION FOR UNDERACTUATED SHIPS: VIRTUAL CONSTRAINTS APPROACH
复制标题
欠驱动船舶的运动规划及其反馈稳定性：虚拟约束方法
DOI：
10.3182/20050703-6-cz-1902.01953
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Fossen
中科院分区：
文献类型：
--
作者：
A. Shiriaev;A. Robertsson;Paul Pacull;T. Fossen
提出了一种具有3自由度和2个控制输入的欠驱动船舶动力学模型的运动生成和反馈镇定方法，该模型存在集总环境力作用。如果给定了船舶运动的几何路径，该方法给出了模型沿此路径的所有可行运动的描述。给出了如何设计控制器来抵消残留在路径上的环境力。
Abstract The paper suggests a method for motion generation and feedback stabilization of a dynamical model of an underactuated ship with 3 degrees of freedom and 2 control inputs with a presence of lumped enviromental forces acting on the model. If the geometrical path for ship motion is given, the method suggests a description of all feasible motions of the model along this path. It is shown how to desing controller to counteract enviromental forces remaining on path.