Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods
Two-time scale path following of underactuated marine surface vessels: Design and stability analysis using singular perturbation methods
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DOI：
10.1016/j.oceaneng.2016.07.006
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发表时间：
2016-09
影响因子：
5
通讯作者：
Bowen Yi;Lei Qiao;W. Zhang
中科院分区：
文献类型：
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作者：
Bowen Yi;Lei Qiao;W. Zhang
针对两时间尺度下的非线性血管模型，提出了一种新的路径跟踪控制律。对于四自由度路径跟踪模型，我们发现导引动力学比舰船运动动力学慢得多。基于这一特点，采用奇异摄动法将整个系统分解为两个时间尺度的子系统。双时间尺度结构允许对每个时间尺度中的动力学进行独立分析。分别设计了准稳态和边界层子系统的控制策略，使整个系统稳定，得到了舵角控制律，该控制律结构紧凑，在实际应用中不复杂。利用奇异摄动方法给出了奇异摄动参数上界的数学表达式，并证明了全系统的指数稳定性。本文证明了在存在有界摄动和未建模动态的情况下，控制律是鲁棒的，所得到的状态收敛到任意接近原点的不变集。仿真结果表明了该路径跟踪方法的有效性和鲁棒性。该方法的主要优点是实现简单。
The paper aims to develop a novel path following control law for nonlinear vessel models in two-time scales. For the 4-DOF path following model, we explore that the guidance dynamics are much slower than the ship motion dynamics. Based on such characteristic, a singular perturbation method is used to decompose the full system into two-time-scale subsystems. The two-time-scale structure allows independent analysis of dynamics in each time scale. Separate control strategies for the quasi-steady-state subsystem and the boundary layer subsystem are designed to stabilize the full system, yielding a rudder angle control law which is compact and uncomplicated to implement in practice. Singular perturbation methods are utilized to provide mathematical expressions for the upper bound of the singularly perturbed parameter and establish the exponential stability of the full system. The paper proves that the control law is robust in the presence of bounded perturbations and unmodeled dynamics, resulting states converge into an invariant set arbitrarily closed to the origin. Simulation results show the effectiveness and robustness of the proposed method for path following. The primary benefit of the proposed method is the simplicity of implementation.