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文章针对连续曲率路径,用一种简单的几何方法生成连续曲率的路径。基于该几何方法生成的连续路径,文中利用line-of-sight(LOS)引导律解决了循迹控制中横向偏差最小的问题。为了减弱控制输出的振荡和获得平滑的控制输出,一种基于动态执行机构的改进反步积分控制器在过驱动船舶循迹控制中得到了应用。值得注意的是,文中用积分操作来抵抗风浪流环境力。数值分析结果展示了该控制器的有效性。
Aiming at the continuous curvature path, the article uses a simple geometric method to generate the path of continuous curvature. Based on the continuous path generated by the geometric method, the line-of-sight (LOS) guidance law is used to solve the problem of the least lateral deviation in tracking control. In order to weaken the oscillation of control output and obtain a smooth control output, an improved backstepping controller based on dynamic actuator is applied in overdriving ship tracking control. It is noteworthy that, in this paper, integral operation to resist the environmental impact of wind and waves. The numerical analysis shows the effectiveness of this controller.