Nonlinear Ship Control: An Opportunity for Applied Mathematicians

非线性船舶控制：应用数学家的机会

基本信息

批准号：
0504462
负责人：
Zhong-Ping Jiang
金额：
--
依托单位：
Polytechnic University of New York
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2005
资助国家：
美国
起止时间：
2005-08-15 至 2009-07-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=0504462&HistoricalAwards=false
关键词：
Nonlinear Ship Control Opportunity Applied

项目摘要

This research addresses some fundamental design issues in the theory of nonlinear control for underactuated mechanical systems. On the basis of our recent work on underactuated ship control, we will take a further step toward the problem of controlling a surface ship with incomplete state information and in the presence of environmental disturbances. Under these constraints, achieving robustness of global stability is hard because the ship often is underactuated, and is highly non-linear. The lack of the separation principle, the general nonlinear observer design, and general robustification tools make this problem challenging. To make advances on this issue, we will use analytical techniques from ordinary and partial differential equations, together with recent results in nonholonomic mechanics and nonlinear control. This research project will pay particular attention to stabilization with incomplete state information and trajectory tracking with robustness to environmental disturbances. Underactuated mechanical systems are systems with less number of actuators than the degrees of freedom. They appear in ocean ships and many other aerospace and marine systems such as satellites and underwater vehicles. A major goal of this project is to develop a mathematical framework of high-performance control for practical applications involving these systems. Performance-oriented controllers derived from this research will be validated via computer simulations and experiments.

这项研究解决了针对不足的机械系统非线性控制理论中的一些基本设计问题。根据我们最近对船舶控制不足的工作，我们将迈出进一步的一步，朝着控制地面船的问题，并在存在环境干扰的情况下迈出。在这些限制下，实现全球稳定性的鲁棒性很难，因为该船通常不足，而且高度非线性。缺乏分离原理，一般的非线性观察者设计和一般鲁棒化工具，使这个问题具有挑战性。为了在这个问题上取得进步，我们将使用来自普通和部分微分方程的分析技术，以及非卫生力学和非线性控制的最新结果。该研究项目将特别关注不完整的状态信息和轨迹跟踪，并具有鲁棒性对环境干扰。机械系统不足的是执行器数量少于自由度的系统。它们出现在海船以及许多其他航空航天和海洋系统中，例如卫星和水下车辆。该项目的主要目的是为涉及这些系统的实际应用开发一个高性能控制的数学框架。从这项研究得出的面向性能的控制器将通过计算机模拟和实验验证。