Global robust adaptive path following of underactuated ships
Global robust adaptive path following of underactuated ships
复制标题
DOI：
10.1016/j.automatica.2006.04.026
复制
发表时间：
2006-10-01
期刊：
影响因子：
6.4
通讯作者：
Pan, J.
中科院分区：
文献类型：
--
作者：
Do, K. D.;Pan, J.
我们提出了一种全局鲁棒自适应控制器的设计方法，该控制器迫使欠驱动船舶在波浪、风和洋流引起的恒定和时变干扰下遵循参考路径。包括线性和非线性阻尼项，以涵盖低速和高速应用。所有的非线性阻尼系数被假定为未知的，但躺在一个已知的紧集。新的结果来自使用一个适当的身体固定的框架原点的选择，非光滑阻尼项的光滑近似，几个非线性坐标的变化，backstepping技术，和利用船舶动态结构。船模试验验证了该方法的有效性。(C)2006爱思唯尔有限公司保留所有权利。
We propose a method for designing a global robust adaptive controller that forces an underactuated ship to follow a reference path under both constant and time-varying disturbances induced by waves, wind and ocean-currents. Both linear and nonlinear damping terms are included to cover both low- and high-speed applications. All nonlinear damping coefficients are assumed unknown but lie in a known compact set. The new results are derived using a choice of an appropriate body-fixed frame origin, a smooth approximation of nonsmooth damping terms, several nonlinear coordinate changes, the backstepping technique, and utilization of the ship dynamic structure. Experiments on a model ship illustrate the results. (C) 2006 Elsevier Ltd. All rights reserved.