【作者】 高剑； 严卫生； 赵宁宁； 徐德民；

【Author】 GAO Jian,YAN Weisheng,ZHAO Ningning,XU Demin College of Marine Engineering,Northwestern Polytechnical University,Xi’an 710072,P.R.China

【机构】 西北工业大学航海学院；

【摘要】 针对欠驱动型UUV的水平面非线性路径跟踪控制问题,采用以自由参考点为原点的Serret-Frenet坐标系,描述路径跟踪误差及其动态模型,克服了传统方法的奇异值问题,并将航向角看作路径跟踪误差的虚拟输入,设计航向角的镇定函数和路径参数的变化率,使路径跟踪误差全局渐近稳定。采用直线和圆参考路径进行仿真研究,结果证明了路径跟踪控制方法的有效性。更多还原

【Abstract】 The horizontal nonlinear path following control problem is studied.The Serret-Frenet coordinate originating at the free reference point on the path is used to describe the path following errors and their dynamic model,solving the singularity problem in the classic method.The yaw angle is treated as the control input of path following errors,and the stabilization function is designed.The path following errors is proved to be globally asymptotically stable with properly choosing the rate of the path curve parameter.The simulation studies with the linear and circular reference pathes demonstrate the effectiveness of the proposed path following controller.更多还原