摘要
欠驱动水面船舶的镇定控制大多采用切换控制的方法,对该问题的研究普遍存在需要角速度持续激励的问题,时变控制可以有效解决该问题,但时变系统存在构造李雅普洛夫函数的困难,为此提出了一种时变状态变换,并基于反步法构造了该系统的李雅普洛夫函数,从而设计了一种全局时变反馈镇定控制器,取消了对初始条件角速度不能为零的约束。仿真结果验证了所提出方法的有效性。
The stabilization of an underactuated surface vessel is solved by switching control,which however involves the problem of persistent angular excitation.Time-varying control can solve the problem.But the Lyapunov function of time-varying system is rather difficult to construct.In this case,a new time-varying state transformation is proposed,and a time-varying Lyapunov function can be easily constructed based on backstepping approach.Then a global time-varying feedback stabilization controller is designed,which cancels the limitation of no zero for the angular in the initial condition.The simulation result verifies the validity of the proposed method.
出处
《船舶工程》
CSCD
北大核心
2012年第2期50-52,共3页
Ship Engineering
基金
国家自然科学基金资助项目(50909026)
黑龙江自然科学基金资助项目(F200916)
中央高校基金(HEUCF110410)
关键词
欠驱动船舶
全局镇定
时变反馈
反步法
underactuated surface vessel
global stabilization
time-varying feedback
backstepping
