Control of fully actuated ocean surface vessels using a class of feedforward approximators
Control of fully actuated ocean surface vessels using a class of feedforward approximators
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DOI：
10.1109/tcst.2006.872507
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发表时间：
2006-06
影响因子：
4.8
通讯作者：
K. P. Tee;S. Ge
中科院分区：
文献类型：
--
作者：
K. P. Tee;S. Ge
在本文中，我们考虑在存在不确定性和未知干扰的情况下跟踪完全驱动的海洋船舶的期望轨迹的问题。基于近似和支配设计技术的结合使我们能够处理时变干扰，而不需要明确的边界知识。使用反步法和李亚普诺夫综合，首先针对全状态反馈情况设计了稳定的跟踪控制器。随后，通过采用高增益观测器来估计稳定跟踪控制器所需的不可测量状态来解决输出反馈问题。在所提出的控制下，对于全状态和输出反馈情况都保证了闭环信号的半全局一致有界性。
In this brief, we consider the problem of tracking a desired trajectory for fully actuated ocean vessels, in the presence of uncertainties and unknown disturbances. The combination of approximation-based and domination design techniques allows us to handle time-varying disturbances, without the need for explicit knowledge of the bounds. Using backstepping and Lyapunov synthesis, the stable tracking controller is first designed for the full-state feedback case. Subsequently, the output feedback problem is tackled by employing a high-gain observer to estimate the unmeasurable states required by the stable tracking controller. Under the proposed control, semiglobal uniform boundedness of the closed-loop signals is guaranteed for both full-state and output feedback cases.