【作者】 胡胜； 冯辉； 余文曌； 徐海祥； 杨素军；

【Author】 FENG Hui;HU Sheng;YU Wen Zhao;XU Hai Xiang;YANG Su Jun;Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education;School of Transportation, Wuhan University of Technology;Marine design and research institute of China, Key Laboratory of water jet propulsion technology;

【机构】 武汉理工大学交通学院； 高性能船舶技术教育部重点实验室； 中国船舶及海洋工程设计研究院喷水推进技术重点实验室；

【摘要】 针对欠驱智能船舶在执行循迹任务时,受路径曲率和环境力干扰影响导致横向偏差增大的问题,对智能船舶的引导策略进行了研究。提出了一种有限时间收敛的自适应引导律并基于该引导律实现了智能船舶循迹控制,使循迹过程中的横向偏差可以在有限时间内收敛至零。相比于传统积分引导律(IntegralLine-of-Sight,ILOS),该方法的控制参数可以根据横向偏差的变化进行自适应调整,可以更快地引导智能船舶进行直线和曲线循迹。最后,通过仿真对比验证了该方法的有效性和先进性。更多还原

【Abstract】 In consideration of the problem that the lateral deviation of the underactuated Intelligent Ships increases due to the influence of path curvature and environmental disturbance during the path tracking task, the guidance law of Intelligent Ships is discussed. An adaptive guidance law with finite time convergence is proposed. Based on the guidance law, the Intelligent Ships path following control is realized, so that the lateral deviation can converge to zero in finite time. Compared with the traditional Integral Line-of-sight(ILOS), the control parameters of the method can be adjusted adaptively according to the change of lateral deviation, and the Intelligent Ships can be guided to follow the desired line or curve path faster The effectiveness of the proposed method, which perform better than ILOS, is verified by simulations.更多还原