Global κ-exponential way-point maneuvering of ships:: Theory and experiments
Global κ-exponential way-point maneuvering of ships:: Theory and experiments
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DOI：
10.1016/j.automatica.2005.12.020
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发表时间：
2006-04-01
期刊：
影响因子：
6.4
通讯作者：
Pettersen, KY
中科院分区：
文献类型：
--
作者：
Fredriksen, E;Pettersen, KY
本文考虑船舶的航路点操纵只有两个控制输入（纵荡力和偏航力矩）。利用级联控制理论，推导了一种能使欠驱动船舶在三自由度上全局κ指数镇定的视线激励控制律。除了结合LOS算法的优良特性外，控制律易于使用线性控制技术进行调整。最后，以1：70的船模为例进行了实验验证。(c)2006爱思唯尔有限公司保留所有权利。
The paper considers way-point maneuvering of ships with only two control inputs available (surge force and yaw moment). A line-of-sight (LOS) motivated control law that globally kappa-exponentially stabilizes an underactuated ship in three degrees of freedom is derived using cascaded control theory. In addition to incorporating the nice features of the LOS algorithm, the control law is easy to tune using linear control techniques. Furthermore, experimental results with a model ship, scale 1:70, are presented to verify and illustrate the theory. (c) 2006 Elsevier Ltd. All rights reserved.