【作者】 程金； 易建强； 王中华； 董云云；

【Author】 Cheng Jin1,Yi JianQiang2,Wang Zhonghua2,Dong Yunyun 1 1.School of Control Science and Engineering in Jinan University,Jinan 250022,P.R.China 2.Institute of Automation,Chinese Academy of Sciences,Beijing 100080,P.R.China

【机构】 济南大学控制科学与工程学院； 中国科学院自动化研究所；

【摘要】 由于欠驱动水面船舶存在二阶非完整约束,不满足Brockett定理的必要条件,因而对于动态定位问题,不存在任何光滑时不变的反馈控制方法能够使得系统渐近稳定。通过对系统进行坐标变换和反馈变换,基于有限时间控制方法,对坐标和反馈变换后的两个子系统,设计分时间段独立的稳定反馈控制律,从而以非连续的反馈方式,解决了欠驱动船舶的动态定位控制问题。数值仿真试验结果验证了所提出的控制方法的稳定性。更多还原

【Abstract】 For a second-order nonholonomic constraint exists in underactuated surface vessel system,which makes thesystem not meet the Brockett’s necessary condition,there is no continuously differentiable control law that can make the origin of the system asymptotically stable.After coordinate and feedback transformations,the stable feedback control laws are respectively proposed for two subsystems with finite-time control method,and then the dynamical positioning control problem is well solved by a discontinuous way.Results of computer simulation show the effectiveness of the proposed control method.更多还原