Underactuated ship global tracking under relaxed conditions
Underactuated ship global tracking under relaxed conditions
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DOI：
10.1109/tac.2002.802755
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发表时间：
2002-09-01
影响因子：
6.8
通讯作者：
Pan, J
中科院分区：
文献类型：
--
作者：
Do, KD;Jiang, ZP;Pan, J
针对欠驱动水面舰船，设计了一种控制器，使其在仅有纵荡力和偏航力矩的情况下，全局渐近跟踪由附加在船体框架上的虚拟舰船产生的参考轨迹.允许参考轨迹是包括直线的曲线。控制的发展是基于李雅普诺夫的直接方法和backstepping技术，并利用船舶动力学的几个属性及其相互关联的结构。数值仿真验证了所提出的控制器的有效性。
A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The reference, trajectory is allowed to be a curve including a straight line. The control development is based on Lyapunov's direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Numerical simulations are provided to validate the effectiveness of the proposed controller.