【作者】 刘展雷； 马保离；

【Author】 Liu Zhanlei,Ma Bao1i The Seventh Research Division,Beijing University of Aeronautics and Astronautics,Beijing 100083,P.R.China

【机构】 北京航空航天大学第七研究室；

【摘要】 为解决欠驱动船舶的速度和角速度不易测量的问题,本文提出了一种基于状态观测器的时变光滑输出反馈控制律,该控制律只需要测量欠驱动船的位置和航向角,就可使得闭环系统的状态轨迹指数收敛到期望状态。仿真结果证实了所提出的控制律的有效性。更多还原

【Abstract】 In order to overcome the difficulties of measuring the linear and angular velocities of an underactuated surface vessel,an observer-based smooth time-varying output feedback control law is proposed,guaranteeing that the state trajectories of the closed-loop system converge exponentially to the desired state with provided the position and orientation of the underactuated ship are measurable.Simulation results show the effectiveness of proposed control law.更多还原